Skyhub User Manual r9

UgCS SkyHub
User Manual
integrated.ugcs.com
September 2022 Revision 9
UgCS SkyHub User Manual
Revision History
Revision Date Description

9 14.11.2022 • Update Echo sounder settings description
• Added the BDUS Bridge (ROS 2 framework) support
description
• ROS based driver for altimeter SF-30D description
• ROS based driver for altimeter US-D1 descrtiption
• Updated Navigation parameters description
• Navigation tuning guideline
8 08.07.2022 • Added the PPS Sync description

• Updated the Assembling section
• Updated setup instructions for Geonics EM-61
• Changed the MAV/BAUD_RATE default value from 57600
to 230400
7 20.05.2022 • Added the Target Altitude limit of TTF and Grasshopper

modes above water for laser altimeter
• Added the Warnings section
• Added the RadSys zGPR description
• Added new parameters to Geonics EM-61 settings
• Updated the Update Firmware section
• Updated parameters in the NAV config section
• Changed the OUTPUT_GPS/FREQUENCY_HZ default value
from 1 Hz to 5 Hz
• Removed the START_DELAY_S parameter from payloads
configuration connected via UART/RS-232
6 09.02.2022 • Added UgCS SkyHub 3

• Added the Supported Sensors section
• Added the Lightware SF30/D altimeter description
• 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—2023, SPH Engineering 2 Revision 9 • September 2022


5 13.01.2022 • Added the DJI M300 RTK description
• Added the ArduPilot/PX4 based drone description
• Added the DJI Obstacle Sensors Disabling
• Added the Position Log description
• Added the Obstacle Avoidance Mode description
• Added the Echologger ECT D052/D032 description
• Added the sound speed value to ECT400 Echosounder
specification
• Added the FT Technologies FT742-SM description
• Added the Nanoradar MR72 radar obstacle detector
description
• Added the Geonics EM-38MK2 conductivity meter
description
• Added the RadSys Zond Aero GPR description
• Added the Remote Water Sampling description
• Added the GPS Output description
• Added the Emlid Reach M2 description
• Changed the DJI Flight Controller Activation description
• Changed the Grasshopper Mode description
• Changed the True Terrain Following description
• Changed the PERGAM_FALCON/FREQUENCY_HZ
description
• Changed the PERGAM_LMM/FREQUENCY_HZ description
• Removed the RadSys Zond Lite support
• Removed support of 12 ns and 25 ns time range for
RadSys Zond GPR
• Removed Default DJI Credentials (Recommended) section
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

Table of Contents
1 • Description 7
Compatible drones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Interaction diagrams with drones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Supported sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2 • Warnings 12
3 • Assembling 13
4 • Preparation 14
Prerequisites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Setup Interface to DJI Autopilot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Setup Interface to ArduPilot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Setup Interface to PX4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Setup the UgCS SkyHub Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
5 • Payloads Setup 36
Altimeter Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Ground-Penetrating Radar Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Echosounder Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Gas Detector Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Metal Detector Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Conductivity Meter Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Remote Water Sampling Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Anemometer Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Obstacle Detector Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
GPS Receiver Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Outputs Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
6 • Getting Started 57
True Terrain Following . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Grasshopper Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Obstacle Avoidance Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
About Log Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Log Files Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Update Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Uninstall Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
7 • Configuration Parameters 77
UgCS SkyHub Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Autopilot Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Flight Control Mode Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Altimeter Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
GPR Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Echosounder Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Gas Detector Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Metal Detector Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Conductivity Meter Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Drop Messenger Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Anemometer Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Obstacle Detector Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
GPS Receiver Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Outputs Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Guidelines for navigation values choosing . . . . . . . . . . . . . . . . . . . . . . . . . 107
8 • Legal Notice 109

Disclaimer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Trademarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Document License . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

1 • Description UgCS SkyHub User Manual
1 • Description
The UgCS SkyHub solution is a hardware and software set designed to enhance
commercial-off-the-shelf UAVs capabilities for industrial purposes and to support integration
of diverse sensors.
UgCS SkyHub solution functions:
• Data collection from sensors like GPR, methane detector, echosounder, etc. which do not
have internal data logger. Data recorded in CSV format as well in the formats compatible
with specialized software for sensor data processing and analysis (SEG-Y, NMEA-0183,
etc.).
• Data fusion from the payload and UAV telemetry. Data without coordinates
(non-geotagged) is in most cases useless. UgCS SkyHub uses the positioning
information from the drone to geotag sensor data.
• UgCS SkyHub can supply NMEA coordinate stream to the external sensor. Some sensors
have internal data recorders but require an external GPS receiver. UgCS SkyHub can act
as such an additional GPS receiver by providing the UAV coordinates to sensors.
• Support for True Terrain Following for DJI drones to automatically keep constant
elevation over the surface using real-time data from a radar or laser altimeter.
• Support for Grasshopper mode for DJI drones. The mode provides the flight between
waypoints at a safe altitude and descends in waypoints to the set altitude to make
measurements (using NDT sensor, echo sounder, etc.) or to drop a parcel or seismic
sensor.
• Support for an external detector of obstacles to interrupt the flight and save the UAV,
especially if the weather conditions or payload configuration interfere with the built-in
sensors on the UAV or the UAV does not have such sensors.
Compatible drones
• DJI M300 RTK
• DJI M600 / M600 Pro
• DJI M210 / M210 V2 / M210 V2 RTK
• Custom frames based on DJI A3 flight controller
• Drones based on Pixhawk autopilot with ArduCopter or PX4 firmware.

Interaction diagrams with drones UgCS SkyHub User Manual
Interaction diagrams with drones

UgCS SKYHUB
API Port UART
DJI Flight DJI Onboard Onboard Software
Controller SDK (UgCS SkyHub)
DJI CAN Bus
DJI GNSS Payload Drone System

Receiver Data Position Log
Log Log
DJI Air Ethernet

Downlink UART
UART / RS232 Bluetooth / Wi-Fi
Laser / Radio
Wi-Fi
Payload Payload
Altimeter
Drone
Ground
Laptop
Radio Link
Custom
UgCS UgCS
Payload
Client UCS
Monitor
Wi-Fi / Bluetooth
Android Device
DJI Remote USB
UgCS for DJI Mobile Application
Controller
Figure 1.1 — DJI SDK drone interaction diagram
UgCS SKYHUB
UART
GNSS Onboard Software
Mavlink
Receiver (UgCS SkyHub)
Telemetry
Port
Payload Drone System
Ardupilot / PX4 Data Position Log
Flight Controller Log Log
Ethernet
UART / RS232 Bluetooth / Wi-Fi
Air Telemetry Laser / Radio
Module Altimeter
Wi-Fi
Payload Payload
Drone
Ground
Radio Link
Laptop
Custom
UgCS UgCS
Ground Telemetry USB / Wi-Fi Payload
Client UCS
Module Monitor
Figure 1.2 — Pixhawk autopilot based drone interaction diagram

Supported sensors UgCS SkyHub User Manual
Supported sensors
Power
Data
Data / feed
Manufact Sensor logging
control from Notes
urer name on UgCS
interface UgCS
Skyhub
Skyhub
Altimeter
(used for flight control in True Terraion-Following (TTF) and Grasshopper (GH) flight
modes)
Max range:
Nanoradar NRA24 YES UART YES
50 m
LightWare Max range:

SF30/D YES UART YES
Lidar 200 m
LightWare
SF11/C YES UART / I²C YES Obsolete
Lidar
Attollo
WASP-200 YES UART YES Obsolete
Engineering
Ground-Penetrating Radar (GPR)
Zond Aero
Radar System YES Ethernet YES
500
Zond Aero
1000
Radar System Zond Aero LF YES Ethernet YES
Zond-12e
Drone 500A
Zond-12e
Drone 1000A
Zond-12e Dual
1000a
Zond-12e
Drone LF

Power
Data
Data / feed
control from Notes
urer name on UgCS
interface UgCS
Skyhub
Skyhub
Radarteam Cobra Plug-In YES Bluetooth YES
Radarteam Cobra CBD YES Bluetooth YES
Magnetometer
GPR feed
MagDrone R3 (GPS-out)
SENSYS - - YES
/ R4 from UgCS
Skyhub
Tested for
MagArrow /
Geometrics - - - compatibility
MagArrow-SX
with TTF
Tested for
GSMP-35U /
GEM Systems - - - compatibility
25U
with TTF
Echosounders
Optionally
Echologger ECT400 YES RS-232 YES
USB
Optionally
Echologger ECT D052 YES RS-232 YES
USB
Optionally
Echologger ECT D032 YES RS-232 YES
USB
Methane detector
Pergam Laser Falcon YES USB YES
Pergam LMm YES UART YES Obsolete
Metal detector
Geonics EM61Lite YES RS-232 YES
Conductivity meter
RS-232 /
Geonics EM38-MK2 YES YES
Bluetooth

Power
Data
Data / feed
control from Notes
urer name on UgCS
interface UgCS
Skyhub
Skyhub
Other sensors and devices
FT FT742-SM
YES UART YES
Technologies anemometer
MR72
Nanoradar obstacles YES UART YES
detector
Emlid Reach M2 YES UART / USB -
Water sampler Tested with

SPH
messenger - GPIO / PWM YES Ruttner water
Engineering
release device sampler

2 • Warnings UgCS SkyHub User Manual
2 • Warnings
! 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 UgCS SkyHub device
must be made with the device unpowered.

3 • Assembling UgCS SkyHub User Manual
3 • Assembling
Assembling instructions how mounting UgCS SkyHub and an altimeter are published on the
webpage How to install UgCS SkyHub.

4 • Preparation UgCS SkyHub User Manual
4 • Preparation
Prerequisites
Required desktop software:
• UgCS v4.3 or higher (referred below as UgCS)

• UgCS Custom Payload Monitor v3.17 (referred below as UgCS-CPM)
• Putty SSH Client
• WinSCP
Required desktop software for DJI drones:
• DJI Assistant 2 for A3 Autopilot, DJI Assistant 2 for Matrice (M210) or DJI Assistant 2 for
Enterprize (M300, M600)
Required desktop software for PX4 based drones:
• QGroundControl
Required desktop software for ArduPilot based drones:
• Mission Planner
Required mobile software for DJI drones:
• For DJI A3 / M600 / M600 Pro: DJI GO

• For DJI M210 / M210 V2 / M300 RTK: DJI Pilot
• UgCS for DJI v2.36 or higher (referred below as UgCS for DJI)
Connect to UgCS SkyHub Using Wi-Fi

Important: It is strongly recommended to switch off a remote controller before any
operations with the UgCS SkyHub Wi-Fi.
After powering on the UgCS SkyHub operates as Wi-Fi access point with following credentials:
• SSID: UgCS-SkyHub-****** (where ****** is the UgCS SkyHub serial number)

• Passphrase: 12341234
Note: Windows users might be suggested to enter PIN the first time. Please, switch to security
key mode before entering the passphrase.

Figure 4.1 — Windows Wi-Fi connection dialog. PIN mode
Figure 4.2 — Windows Wi-Fi connection dialog. Security key mode.
One may connect to UgCS SkyHub via SSH protocol (e.g. using PuTTY or WinSCP).
• IP address: 10.1.0.1
• Port: 22
• Username: root
• Password: <empty>
Connect to UgCS SkyHub Using Ethernet

Parameters for wired connection are:
• IP address: 192.168.0.33
• Port: 22
• Username: root
• Password: <empty>
UgCS SkyHub runs DHCP service onboard, therefore, the PC’s IP address will be assigned
automatically after connection.

Access to Onboard File System

One may use any SCP client to access the UgCS 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) or opening with PuTTY (for SSH access).
Table 4.1 — Onboard File System
UgCS SkyHub 2 UgCS SkyHub 3

Home directory
/home/root/ /root/
for root user
MicroSD root /run/media/mmcblk1p1/
Configuration file /etc/skyhub/skyhub.conf /etc/skyhub/skyhub.conf
/run/media/mmcblk1p1/sk
Logs directory /data/skyhub_logs/
yhub_logs/

Setup Interface to DJI Autopilot UgCS SkyHub User Manual
Setup Interface to DJI Autopilot

To allow the UgCS SkyHub to connect to the DJI autopilot, one should activate and setup the
Onboard SDK for its device, and setup the UgCS for DJI mobile application.
DJI User's Credentials Registration

One needs to create and use own credentials for the DJI flight controller activating. Please,
follow the steps described below.
1. Create an account on https://developer.dji.com/ then enter to Apps tab in the

developer area.
2. Choose the ONBOARD SDK option from the drop-down list and press the
CREATE APP button.
Figure 4.4 — DJI Developer area
3. Enter corresponding information and press the CREATE button.
Figure 4.5 — Create app
4. Follow steps from received activation e-mail.

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

Figure 4.6 — Getting App ID and Key from App Information
6. Write these values to corresponding configuration fields in skyhub.conf (APP_ID

and APP_KEY accordingly in [DJI] or [DJI_M] section) as described in Setup the
UgCS SkyHub Device. Do not forget to restart the UgCS SkyHub after changing
parameters.

DJI Flight Controller Activation

The following steps are described for the DJI A3 flight controller but may be applied to
another DJI product with a minor difference.
1. Run the DJI Assistant 2 and check settings that at least

DJI account information and Onboard SDK APP ID options are enabled.
Otherwise, Onboard SDK access to the flight controller can’t be activated.
Figure 4.7 — DJI Assistant 2 start window
2. Connect the DJI flight controller to the PC and press the Login button.

Figure 4.8 — DJI Assistant 2 start window
3. Enter User’s DJI credentials created during DJI User's Credentials Registration and
press Sign in button.
Figure 4.9 — DJI Assistant 2 login window

4. Switch on the drone, wait for the device to appear, open the main window, then
choose the SDK/Onboard SDK tab and check Enable API Control,
Ground Station Status and Enable SDK Failsafe Actions checkboxes.
Figure 4.10 — Enable API control in DJI Assistant 2
5. When available: Choose the Basic Settings > Remote Controller tab, check the Enable
Multiple Flight Mode checkbox, and configure the flight mode switch to be in P-mode
for left and right positions while being in A-mode for the middle position.
An alternative way to activate the Multiple Flight Mode is using the DJI GO/Pilot app
(see step 9 below).

Figure 4.11 — Enable API control in DJI Assistant 2
6. Switch on the DJI Remote Controller, run DJI GO (DJI Pilot), choose the Me tab, press
the Login button.
7. Enter User’s DJI credentials created during DJI User's Credentials Registration and
press the Sign in button.
8. Choose the Equipment tab, wait for A3 / M600 / M600 Pro / M210 / M210 V2 /
M300, then press Camera button.
Figure 4.12 — DJI GO screens
9. An alternative way to activate the Multiple Flight Mode. Go to the DJI GO/Pilot app >
Camera View/Manual Flight > Menu > > Enable Multiple Flight Mode.

Figure 4.13 — Enabling Multiple Flight Mode
10. Note: If DJI M210 is used, should be set to enable M210 Power Supply and OSDK
Communication Ports in the DJI Pilot application for the first time.
Figure 4.14 — DJI Pilot screen. Additional setups for DJI M210
11. Restart the drone by a power cycle. The UgCS SkyHub device should be properly
connected to the flight controller.
12. Wait for the UgCS SkyHub firmware loads and starts. The DJI mobile application may
request you about additional permissions for the Onboard SDK. Confirm all of them
allowing the UgCS SkyHub to access the DJI autopilot.
Now the flight controller is ready to be connected via Onboard SDK. Please don’t forget to
move User’s DJI App ID and Key to the skyhub.conf configuraiton file.
Important: The DJI flight controller may not activate from the first attempt. If there is no
connection with flight controller after full system setup, try to logout and login several times
with the drone power cycling.

DJI Obstacle Sensors Disabling

Depending on the used payload, downwards obstacle sensors may need to be disabled
(actual for DJI M300 RTK and DJI M210). Should use DJI Pilot to disable them according to
the screenshots below.
Figure 4.15 — M210 DJI Pilot screens
Figure 4.16 — M300 RTK DJI Pilot screens

Setup the UgCS for DJI Mobile Application

One should enable custom payload support in the UgCS for DJI mobile application. After
starting the application go to Menu > Drone Specific Settings and enable the corresponding
checkbox.
Figure 4.17 — Enable Custom Payload checkbox

Setup Interface to ArduPilot UgCS SkyHub User Manual
Setup Interface to ArduPilot

UgCS 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.
Figure 4.18 — UgCS installation Support for ArduPilot vehicles
2. Configure UgCS Ardupilot VSM. Open vsm-ardupilot.conf in text editor with

administrator privileges. The file is located in the UgCS installation folder (default
path C:\Program Files (x86)\UgCS\bin). Find, uncomment and adjust the
following settings if needed.

Figure 4.19 — ArduPilot VSM configuration file
3. Within [AUTOPILOT] section set to true for the only MAVPILOT parameter and
false for others:
[AUTOPILOTS]
DJI=false
DJI_M=false
MAVPILOT=true
4. Restart UgCS SkyHub

5. Make sure that UgCS ArduPilot VSM parameter
vehicle.ardupilot.custom_payload.onboard.component_id is equal to
the COMPONENT_ID value in the [MAV] section of the UgCS SkyHub config. See
ArduPilot/PX4 Configuration to find all available settings with default values and
descriptions.
6. Open application Mission Planner, connect it to the vehicle autopilot and check serial
port settings used for UgCS SkyHub communication. Check port configured baud
rate. Speed should be the same as configured at UgCS SkyHub side in the [MAV]
section of the UgCS SkyHub config (recommended 230400). If adjustment is needed
don’t forget write them and restart autopilot.
7. Check communication between UgCS SkyHub and autopilot. Using Mission Planner
open Setup -> Advanced -> MAVLink inspector.

Figure 4.20 — Mission Planner MAVlink inspector
8. In case of correct connection and configuration MAVLink, inspector shows

communication between UgCS SkyHub and autopilot.
Figure 4.21 — Mission Planner MAVlink inspector data

Vehicle 2 and Comp 5 correspond to configured at UgCS SkyHub System (2) and
Component (5) ID.
9. In case of correct Autopilot, UgCS and UgCS SkyHub configuration, Payload data b64
is displayed at drone telemetry in UgCS.

Figure 4.22 — UgCS, drone telemetry

Setup Interface to PX4 UgCS SkyHub User Manual
Setup Interface to PX4

UgCS 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.
Figure 4.23 — UgCS installation Support for PX4 based vehicles
2. Configure UgCS PX4 VSM. Open px4-ardupilot.conf in text editor with

administrator privileges. The file is located in the UgCS installation folder (default
path C:\Program Files (x86)\UgCS\bin). Find, uncomment and adjust the
following settings if needed.

Figure 4.24 — PX4 VSM configuration file
3. Within [AUTOPILOT] section set to true for the only MAVPILOT parameter and
false for others:
[AUTOPILOTS]
DJI=false
DJI_M=false
MAVPILOT=true
4. Restart UgCS SkyHub

5. Make sure that UgCS PX4 VSM parameter
vehicle.px4.custom_payload.onboard.component_id is equal to the
COMPONENT_ID value in the [MAV] section of the UgCS SkyHub config. See
ArduPilot/PX4 Configuration to find all available settings with default values and
descriptions.
6. If UgCS SkyHub is connected to telemetry port 2, open application QGroundControl,
then go to Parameters -> MAVLink and set parameter MAV_1_CONFIG to TELEM2.

Figure 4.25 — UgCS SkyHub PX4 TELEM2 port configuration
7. Restart autopilot.
8. After restart data forwarding for TELEM2 autopilot telemetry ports should be enabled,
set to 1 parameter MAV_1_FORWARD.
Figure 4.26 — UgCS 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 UgCS SkyHub side in the [MAV] section of the UgCS
SkyHub config.
Figure 4.27 — UgCS SkyHub PX4 TELEM2 port baudrate configuration

Note: UgCS SkyHub subscribes to the following MAVLink messages with telemetry rate
defined by the TELEMETRY_RATE parameter in the MAV section in UgCS SkyHub config file:
GPS2_RAW
GPS_RAW_INT
GLOBAL_POSITION_INT
ATTITUDE
SYSTEM_TIME
HEARTBEAT
DISTANCE_SENSOR

Setup the UgCS SkyHub Device UgCS SkyHub User Manual
Setup the UgCS SkyHub Device

In order to configure the UgCS SkyHub software one should edit skyhub.conf file located in
/etc/skyhub/ directory. This configuration file has a widely used INI like file format. The
default 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 with
drones:
DJI M600/M600Pro/M210:
[AUTOPILOTS]
DJI=true
DJI_M=false
MAVPILOT=false
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 UgCS SkyHub
restart. For example, DJI autopilot related parameters are collected within the [DJI] section:
[DJI]
APP_ID=1071019
APP_KEY=42873...30b25
BAUD_RATE=230400
RESPONSE_TIMEOUT_S=1
SENDING_PERIOD_MS=20
SERIAL_DEVICE=/dev/ttymxc3
ArduPilot / PX4 autopilot related parameters are collected within the [MAV] section:
[MAV]
BAUD_RATE=230400
COMPONENT_ID=5
CONNECTION_TYPE=UART
SENDING_PERIOD_MS=20
SYSTEM_ID=2
V2_EXTENSION=false
Within [PAYLOADS] section set to true for the only used payloads and false for the
unused ones. For example, when using the high frequency GPR with the radar altimeter:
[PAYLOADS]
DROP_MESSENGER=false
ECHOLOGGER_DUAL=false

Setup the UgCS SkyHub Device UgCS SkyHub User Manual
ECHOLOGGER_ECT=false
FTTECHNOLOGIES_FT742_SM=false
GEONICS_EM_38_MK2=false
GEONICS_EM_61=false
GNSS=false
LIGHTWARE_SF30=false
NANORADAR_MR=false
NANORADAR_NRA=true
PAYLOAD_EXAMPLE=false
PERGAM_FALCON=false
PERGAM_LMM=false
RADARTEAM_COBRA=false
RADSYS_ZGPR=false
RADSYS_ZOND=true
Within [OUTPUTS] section set to true for the only used outputs and false for the unused
ones. For example, when using the GPS output:
[OUTPUTS]
OUTPUT_GPS=true
PPS_SYNC=false
For a more detailed description of the configuration file, see Configuration Parameters.

5 • Payloads Setup UgCS SkyHub User Manual
5 • Payloads Setup
Choose the usage scenario below:
• Altimeter Setup
• Nanoradar NRA24 Altimeter Setup
• Lightware SF30/D Altimeter Setup
• Ground-Penetrating Radar Setup
• Low Frequency GPR Setup
• High Frequency GPR Setup
• RadSys zGPR Setup
• Echosounder Setup
• Echologger ECT400 Setup
• Echologger ECT D052/D032 Setup
• Gas Detector Setup
• Pergam Laser Falcon Setup
• Pergam LMm Setup
• Metal Detector Setup
• Geonics EM-61 Setup
• Conductivity Meter Setup
• Geonics EM38-MK2 Setup
• Remote Water Sampling Setup
• Drop Messenger Setup
• Anemometer Setup
• FT Technologies FT742-SM Setup
• Obstacle Detector Setup
• Nanoradar MR72 Setup
• Outputs Setup
• GPS Output Setup
• PPS Sync Setup
Altimeter Setup
There are common altimeter settings in the [ALTIMETER] section. Check whether minimum
and maximum values correspond to your needs:

5 • Payloads Setup UgCS SkyHub User Manual
[ALTIMETER]
MIN_ALTITUDE_M=0.5
MAX_ALTITUDE_M=20
These values are used to bound valid drone altitude values. When the drone flies out of the
limits, the operator will be notified. Also, while flying in TF mode, descending below
MIN_ALTITUDE_M or ascending above MAX_ALTITUDE_M make the drone hover and go to
the safe altitude.
Another parameter to be set is the sensor’s zero-level above ground when the drone stands at
the surface:
[ALTIMETER]
ZERO_LEVEL_M=0.4
The ZERO_LEVEL_M value will be subtracted from the distance reported by the rangefinder
resulting in the true drone’s altitude above ground level.
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] section

depending on which connector it is connected to. Set it to /dev/ttymxc5 when
connecting to the 5-pin Lemo connector or to /dev/ttymxc1 when connecting to the
4-pin Lemo connector for UgCS SkyHub 2 or set it to one of UARTs, e.g. to
/dev/ttyAMA1, for UgCS SkyHub 3:
[NANORADAR_NRA]
; or
; or
SERIAL_DEVICE=/dev/ttyAMA1
Important: Nanoradar NRA24 radar altimeter doesn’t detect any reflection from the ground
when there is no motion due to technological limitations. Therefore, it starts to measure the
altitude only after takeoff. 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.

Ground-Penetrating Radar Setup UgCS SkyHub User Manual
Lightware SF30/D Altimeter Setup

1. Set LIGHTWARE_SF30 item to true in [PAYLOADS] section:
[PAYLOADS]
LIGHTWARE_SF30=true
2. Choose the appropriate UART_SERIAL_DEVICE in the [LIGHTWARE_SF30] section

depending on which connector it is connected to:
[LIGHTWARE_SF30]
UART_SERIAL_DEVICE=/dev/ttyAMA1
See Lightware SF30/D Altimeter Configuration to find all available settings with default values
and descriptions.
ROS2-based Lightware SF30/D Altimeter Setup

Started from version 2.14 UgCS SkyHub supports new driver for SD30/D altimeter based on
ROS2 framework design.
1. Set LIGHTWARE_SF30 item to false in [PAYLOADS] section to disable old version

of driver:
[PAYLOADS]
LIGHTWARE_SF30=false
2. Edit /etc/skyhub/skyhub.launch script to start up altimeter_monitor and altimeter

driver for SF-30/D. See ROS-based Lightware SF30/D Altimeter Configuration to find
script example.
ROS2-based Ainteins US-D1 Altimeter Setup

Started from version 2.14 UgCS SkyHub supports Ainteins US-D1 altimeter payload based on
ROS2 framework design.
To enable this module edit the /etc/skyhub/skyhub.launch script to start up altimeter driver
for Ainteins US-D1. See ROS-based Ainteins US-D1 Altimeter Configuration to find script
example.
Ground-Penetrating Radar Setup

Low 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] section

according to concrete GPR model used:
[RADARTEAM_COBRA]
MODEL=SE-150
TIME_RANGE_NS=800
See Low Frequency GPR Configuration to find all available settings with default values and
descriptions.

High Frequency GPR Setup

1. Every new device is to be calibrated before using. One should find the appropriate
values of the pulse delay. Connect the GPR to the PC, run the Prism 2 software, and
find the required pulse delay while using the desired mode, time range, sample count.
Figure 5.1 — Prism 2 setup window
2. While using dual-channel GPR model one may choose either single-channel or
dual-channel mode by setting the MODE parameter in the [RADSYS_ZOND] section:
[RADSYS_ZOND]
MODE=CHANNEL_1 ; Single-channel
; or
MODE=TWO_CHANNELS ; Dual-channel

3. Set the trace time range, sample count, pulse delay, and filter in the corresponding
fields in the [RADSYS_ZOND] section:
[RADSYS_ZOND]
FILTER_1=OFF
FILTER_2=OFF
MODE=TWO_CHANNELS
PULSE_DELAY_1=297
PULSE_DELAY_2=301
SAMPLE_COUNT=256
TIME_RANGE_NS_1=300
TIME_RANGE_NS_2=300
Note: When using the Aero version of RadSys Zond radar, all fields are ignored apart
PULSE_DELAY_1 and TIME_RANGE_NS_1.
4. While using dual-channel mode one may setup the antenna offsets in the
corresponding fields:
[RADSYS_ZOND]
OFFSET_FORWARD_M_1=0.1 ; 10 cm alongside the heading line
OFFSET_FORWARD_M_2=0.1
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)
See High Frequency GPR Configuration to find all available settings with default values and
descriptions.
RadSys zGPR Setup

1. Every new device is to be calibrated before using. One should find the appropriate
values of the pulse delay. Connect the GPR to the PC, run the Prism 2 software, and
find the required pulse delay while using the desired mode, time range, sample count.
See details in High Frequency GPR Setup.
2. Set RADSYS_ZGPR item to true in [PAYLOADS] section:
[PAYLOADS]
RADSYS_ZGPR=true

3. Set the code of trace time range per sample, sample count, pulse delay, and stacking
fields in the [RADSYS_ZGPR] section:
[RADSYS_ZOND]
PULSE_DELAY=174
SAMPLE_COUNT=512
STACKING=128
TIME_RANGE_PER_SAMPLE=7
See RadSys zGPR Configuration to find all available settings with default values and
descriptions.

Echosounder Setup UgCS SkyHub User Manual
Echosounder Setup
There are common echosounder settings in the [ECHOSOUNDER] section. Check whether
minimum and maximum values correspond to your needs:
[ECHOSOUNDER]
MIN_DEPTH_M=0.5
MAX_DEPTH_M=20
These values are used to bound valid echosounder depth values. When the depth value is out
of 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 to
determine whether the echosounder is immersed in water. When the drone altitude becomes
lower 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 a
calculated value of depth from the surface resulting from the echosounder’s value and the
current altitude using the specified cable length parameter.
The True Depth value is recorded as a separate column in the position log file and
echosounder NMEA log (see About Log Files). Also, this data is sent to the PC application.
The first samples of the trace in SEG-Y log (see About Log Files) are set to zero if the
echosounder is immersed in water. Zeros number (N) is defined from the difference between
the True Depth value (TDepth, m) and the depth measured with the echosounder (Depth, m)
taking into account the speed of sound (1500 m/s) and set sampling rate (Rate, Hz) by the
formula:
N = 2 × (TDepth - Depth) × Rate / 1500
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 for

data 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 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
4. Set the RANGE_M, the DEADZONE_MM parameters in the [ECHOLOGGER_ECT] section

according to the water body to be explored:
[ECHOLOGGER_ECT]
DEADZONE_MM=300
RANGE_M=10
5. One may choose the output data format for Echologger ECT400. The NMEA value is
useful when only NMEA log file should be recorded. The ECHOSOUNDER mode is used
to record both NMEA and SEG-Y logs:
[ECHOLOGGER_ECT]
MODE=NMEA
; or
MODE=ECHOSOUNDER
Note the data rate in the ECHOSOUNDER mode is significantly lower than in the NMEA one.
Table 5.1 — Maximum measure interval against range in NMEA and Echosounder mode for Echologger
ECT400
Range NMEA mode Echosounder mode

2m 0.1 sec 0.25 sec
10 m 0.1 sec 0.5 sec
20 m 1 sec
40 m 0.2 sec
80 m 0.25 sec 2 sec
100 m 0.33 sec 0.25 sec
See Echologger ECT400 Configuration to find all available settings with default values and
descriptions.

Echologger ECT D052/D032 Setup

1. Set ECHOLOGGER_DUAL item to true in [PAYLOADS] section:
[PAYLOADS]
ECHOLOGGER_DUAL=true
2. Set the MAX_SENSOR_ANGLE_DEG parameter in the [ECHOLOGGER_DUAL] section

for data filtering by echosounder tilt while recording. Set to 90 degrees for disabling.
3. Set the MIN_SENSOR_DEPTH_M parameter in the [ECHOLOGGER_DUAL] section for
data filtering by echosounder depth value while recording. Set to zero for disabling:
[ECHOLOGGER_DUAL]
MAX_SENSOR_ANGLE_DEG=10
MIN_SENSOR_DEPTH_M=0.1
4. Set the RANGE_HIGH_M, the RANGE_LOW_M, the DEADZONE_HIGH_MM, and the

DEADZONE_LOW_MM parameters in the [ECHOLOGGER_DUAL] section according to
the water body to be explored:
[ECHOLOGGER_DUAL]
DEADZONE_HIGH_MM=500
DEADZONE_LOW_MM=1000
RANGE_HIGH_M=10
RANGE_LOW_M=10

5. Set the FREQUENCY_HIGH_HZ and the FREQUENCY_LOW_HZ parameters in the

[ECHOLOGGER_DUAL] section.
FREQUENCY_HIGH_HZ/FREQUENCY_LOW_HZ should be set according to the model

of echo sounder as below:
D032:
[ECHOLOGGER_DUAL]
FREQUENCY_HIGH_HZ=200000
FREQUENCY_LOW_HZ=30000
D052:
[ECHOLOGGER_DUAL]
FREQUENCY_HIGH_HZ=200000
FREQUENCY_LOW_HZ=50000
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.
6. One may choose the output data format for Echologger ECT D052/D032. The NMEA
value is useful when only NMEA log file should be recorded. The ECHOSOUNDER mode
is used to record both NMEA and SEG-Y logs:
[ECHOLOGGER_DUAL]
MODE=NMEA
; or
MODE=ECHOSOUNDER
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:
Table 5.2 — Maximum measure interval against range in NMEA and Echosounder mode for Echologger ECT
D052/D032

1m 0.1 sec 0.25 sec


2m 0.1 sec 0.33 sec
5m 0.1 sec 0.5 sec
10 m 0.1 sec 1 sec
20 m 0.125 sec 2 sec
50 m 0.2 sec 4 sec
100 m 0.33 sec 4 sec
150 m 0.5 sec 4 sec
200 m 1 sec 4 sec
7. Set the SAMPLING_RATE_HZ parameter in the [ECHOLOGGER_DUAL] section

according to the table below. The SAMPLING_RATE_HZ is relevant only for the
ECHOSOUNDER mode.
Table 5.3 — Sampling rate depending on the range in Echosounder mode for Echologger ECT D052/D032
Range Sampling rate

1 ~ 50 m 100000 Hz
60 ~ 100 m 50000 Hz
120 ~ 200 m 25000 Hz
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.
See Echologger ECT D052/D032 Configuration to find all available settings with default values
and descriptions.

Gas Detector Setup UgCS SkyHub User Manual
Gas Detector Setup

There are common gas detector settings in the [GAS_DETECTOR] section. Check whether
[GAS_DETECTOR]
MIN_CONCENTRATION_PPM=0
MAX_CONCENTRATION_PPM=1000
These values are used to bound valid gas detector values. When the gas concentration is out
of 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 the
gas detector resulting in the true gas concentration.
Pergam Laser 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 Laser Falcon Configuration to find all available settings with default values and
descriptions.
Pergam LMm Setup

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

Metal Detector Setup UgCS SkyHub User Manual
2. Choose the appropriate SERIAL_DEVICE in the [PERGAM_LMM] section depending

on which connector it is connected to. Set it to /dev/ttymxc5 when connecting to
the 5-pin Lemo connector or to /dev/ttymxc1 when connecting to the 4-pin Lemo
connector for UgCS SkyHub 2 or set it to one of UARTs, e.g. to /dev/ttyAMA1, for
UgCS SkyHub 3:
[PERGAM_LMM]
; or
; or
See Pergam LMm Configuration to find all available settings with default values and
descriptions.
Metal Detector Setup

There are common metal detector settings in the [METAL_DETECTOR] section. Check
whether minimum and maximum values correspond to your needs:
[METAL_DETECTOR]
MIN_OUTPUT_VALUE_MV=0
MAX_OUTPUT_VALUE_MV=1000
These values are used to bound valid metal detector values. When the output value is out of
the 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 CONNECTION_TYPE in the [GEONICS_EM_61] section:
[GEONICS_EM_61]
CONNECTION_TYPE=BLUETOOTH ; connection through bluetooth (preferable)
; or
CONNECTION_TYPE=RS232 ; connection through RS323

Conductivity Meter Setup UgCS SkyHub User Manual
3. While using RS323 connection choose the appropriate SERIAL_DEVICE in the

[GEONICS_EM_61] section. Set it to /dev/ttymxc1 when the onboard RS232
connection is used or to /dev/ttyUSB0 when the USB-RS232 connection is used for
UgCS SkyHub 2 or set it to one of UARTs, e.g. to /dev/ttyAMA3, for UgCS SkyHub 3:
[GEONICS_EM_61]
; or
SERIAL_DEVICE=/dev/ttyUSB0
; or
See Geonics EM-61 Configuration to find all available settings with default values and
descriptions.
Conductivity Meter Setup

There are common conductivity meter settings in the [CONDUCTIVITY_METER] section.
Check whether minimum and maximum values correspond to your needs:
[CONDUCTIVITY_METER]
MIN_OUTPUT_VALUE_MS_M=0
MAX_OUTPUT_VALUE_MS_M=500
These values are used to bound valid conductivity values. When the conductivity is out of the
limits, the operator will be notified.
Geonics EM38-MK2 Setup

1. Set GEONICS_EM_38_MK2 item to true in [PAYLOADS] section:
[PAYLOADS]
GEONICS_EM_38_MK2=true
2. Choose the appropriate CONNECTION_TYPE in the [GEONICS_EM_38_MK2] section:
[GEONICS_EM_38_MK2]
CONNECTION_TYPE=BLUETOOTH ; connection through bluetooth
; or
CONNECTION_TYPE=RS232 ; connection through RS323

Remote Water Sampling Setup UgCS SkyHub User Manual
3. Choose the appropriate CHANNEL_NUMBER in the [GEONICS_EM_38_MK2] section

to display the desired value on the Conductivity Meter widget in UgCS-CPM. For
example, to display the conductivity for 1.0 m set channel to 3:
[GEONICS_EM_38_MK2]
CHANNEL_NUMBER=3
See Geonics EM38-MK2 Configuration to find all available settings with default values and
descriptions.
Important: to connect through RS232 should use the USB-UART adapter.
Important: should calibrate the conductivity meter before using it according to the
manufacture documentation.
Remote Water Sampling Setup

Drop Messenger Setup
1. Set DROP_MESSENGER item to true in [PAYLOADS] section:
[PAYLOADS]
DROP_MESSENGER=true
2. DROP_MESSENGER plugin has only one purpose is to drop messenger to close Ruttner
water sampler. UgCS SkyHub drops the messenger using servo controlled through
PWM. By default, it’s used the following PWM settings:
[DROP_MESSENGER]
SERVO_LOCK_PULSE_MS=1.5
SERVO_PERIOD_MS=10
SERVO_UNLOCK_PULSE_MS=0.5
See Drop Messenger Configuration to find details and descriptions.
Anemometer Setup
There are common anemometer settings in the [ANEMOMETER] section. Check whether
[ANEMOMETER]
MIN_WIND_SPEED_MPS=0
MAX_WIND_SPEED_MPS=10

Obstacle Detector Setup UgCS SkyHub User Manual
These values are used to bound valid wind speed values. When the wind speed is out of the
limits, the operator will be notified.
FT Technologies FT742-SM Setup

1. Set FTTECHNOLOGIES_FT742_SM item to true in [PAYLOADS] section:
[PAYLOADS]
FTTECHNOLOGIES_FT742_SM=true
See FT Technologies FT742-SM Configuration to find all available settings with default values
and descriptions.
Obstacle Detector Setup

Nanoradar MR72 Setup
1. Set NANORADAR_MR item to true in [PAYLOADS] section:
[PAYLOADS]
NANORADAR_MR=true
2. Choose the appropriate IGNORE_SIDE_SECTORS in the [NANORADAR_MR] section

to ignore or to take into account side sections during the distance to an obstacle
definition.
3. To monitor the distance to obstacles in UgCS-CPM, add the Payload Example widget
by clicking the plus button and set Payload Message ID equals 195 by clicking the
settings button.
See the Nanoradar MR72 Configuration section to find all available settings with default
values and descriptions.
GPS Receiver Setup

GNSS plugin supports GPS receivers with NMEA output data and connection through USB or
UART. GNSS plugin supports parsing for ZDA and GGA sentences of NMEA format.
Emlid Reach M2 Setup

1. Connection to UgCS SkyHub has two options. Using micro-USB cable or UART S1 port
on Emlid Reach M2. Due to high peak power consumption, should get additional
power supply for the Emlid Reach M2.

2. Should decide how to power Emlid Reach M2. It could be done over USB or one of it
S1, S2, C1, or C2 ports. Emlid Reach M2 requires up to 3 A current @ 5.2 V to power up
properly, 600 mA for regular power consumption, and 3 A for peaks.
Figure 5.2 — Emlid Reach M2 Port Pinouts
3. If USB connection is used, USB cable +5 wire should be isolated from UgCS 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.
Important: Do not plug two power supplies at the same time as it may damage the device.
Figure 5.3 — Wrong power supply for Emlid Reach M2
4. When Emlid Reach M2 is powered on, connect to its Wi-Fi. Adjust the receiver using
the special app from the manufacture or the internet browser. Should set Output
1/Serial to ON on the Position Output Settings Page.
5. Select output interface according to connection type to UgCS SkyHub, USB or UART.
6. Select the baud rate and NMEA format. Save settings.

7. Then should change skyhub configuration. Set GNSS item to true in [PAYLOADS]
section:
[PAYLOADS]
GNSS=true
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/ttymxc1

when the UART connection is used with UgCS SkyHub 2 or to /dev/ttyUSBX (X is
the USB port number) when the USB connection is used with UgCS SkyHub of both
generations:
[GNSS]
BAUD_RATE=115200 ; equals selected on step 6
PAYLOAD_ID=193
SERIAL_DEVICE=/dev/ttymxc1 ; UART connection
or
SERIAL_DEVICE=/dev/ttyUSBX ; USB connection
See GPS Receiver Configuration to find all available settings with default values and
descriptions.
9. To check correct Emlid Reach M2 connection to UgCS SkyHub, use the Payload
Example Widget in UgCS-CPM and set Payload Message ID to
GNSS/PAYLOAD_ID value from GNSS configuration file. There will be a satellite count
on the Payload Example Widget if all settings are right.

Outputs Setup UgCS SkyHub User Manual
Outputs Setup
GPS Output Setup
GPS Output sends to defined address messages contained ZDA and GGA sentences in NMEA
format. Coordinates, date, time, and other information for NMEA sentences are received from
an drone (UAV).
1. Set OUTPUT_GPS item to true in [OUTPUTS] section:
[OUTPUTS]
OUTPUT_GPS=true
2. Choose the appropriate ADDRESS in the [OUTPUT_GPS] section. ADDRESS has to

match with connected serial device name which the GPS output sends messages to.
3. Choose the appropriate FREQUENCY_HZ and BAUD_RATE in the [OUTPUT_GPS]
section.
See the GPS Output Configuration section to find all available settings with default values and
descriptions.
PPS Sync Setup

PPS Sync provides transmitting PPS signal from the source (for ex, from an autopilot) to the
consumer (any payload). To support PPS Sync, should implement a support for special pins in
the cable connecting a payload with the UgCS SkyHub device.
Set PPS_SYNC item to true in [OUTPUTS] section:
[OUTPUTS]
PPS_SYNC=true
By default, UgCS 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.
DBUS Bridge Setup

DBUS Bridge plugin is a key component for interaction with ROS2 framework. All ROS-based
payload drivers use this module to interact with core UgCS SkyHub services (ground software
connections, log files, flight controller data acquisition).
Set DBUS_BRIDGE item to true in [OUTPUTS] section:

Outputs Setup UgCS SkyHub User Manual
[OUTPUTS]
DBUS_BRIDGE=true
Restart UgCS SkyHub after this. Then reboot is complete with enabled BDUS_BRIDGE plugin,
new section DBUS_BRIDGE will appear. You may use default values of change them for your
needs.
See the DBUS Bridge Configuration section to find all available settings with default values
and descriptions.
Note: Please, contact our support team if ROS2 integration configuration changes are
required.

6 • Getting Started UgCS SkyHub User Manual
6 • Getting Started
It is strongly recommended to verify any usage scenario using the simulator before starting
the real flight. There is a dedicated simulator mode in the UgCS for DJI mobile application. Go
to Menu > Simulator to enable or disable it.
Figure 6.1 — Enable Simulator mode
True Terrain Following

Simulator Mode
1. Connect to UgCS SkyHub (see Connect to UgCS SkyHub Using Wi-Fi or Connect to
UgCS SkyHub Using Ethernet) and set the ALTITUDE_SOURCE field in the [TF]
section to AUTOPILOT (see True Terrain Following Configuration for additional
options). Disconnect from the UgCS SkyHub.
2. Start the PC and connect it to the Wi-Fi network. Start the UgCS and plan a mission for
the drone.
3. Turn on the drone, the payload, and UgCS SkyHub device.
4. Connect the mobile device to the same Wi-Fi network as the PC. Turn on the DJI
Remote Controller. Be sure that the flight mode switch on the DJI Remote Controller is
in the P-mode. Run the UgCS for DJI mobile application. Wait for the application
shows the main window and connects to the UgCS. UCS connection indicator in the
UgCS for DJI should become green.
5. Click Menu, choose Simulator, and enable the Simulator checkbox.

6. Make sure 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.
Figure 6.2 — Good (left) and bad (right) vehicle state in UgCS
7. Start the UgCS-CPM application and connect to UgCS with default credentials. Check
the UgCS, Drone, and UgCS SkyHub indicators are green. Add the Terrain Following
widget and other widgets related to connected payloads by clicking the plus button.
Figure 6.3 — 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 Following
widget (UgCS-CPM), then click Configure and make sure the
Terrain Following ENABLED message appears in the UgCS-CPM log window at
the bottom side. If not, toggle the flight mode switch to A-mode (S-mode for DJI M300
RTK) and back it to P-mode, then try again to press the Configure button.
9. Arm the drone using the DJI Remote Controller then take off at the valid altitude (see
Altimeter Setup for details).
10. Click the Activate button in the Terrain Following widget to activate the Terrain
Following Flight mode. Check the drone simulator has started a mission.

11. Make sure the data from connected payloads are displayed in UgCS-CPM. Try to
move the UAV and check the sensors’ response.
12. Land the drone simulator after the mission has been completed and try to download
log files (see Log Files Management below). Check the log files for validity.
13. Erase all log files.
14. Restore the UgCS SkyHub settings in the [TF] section before the real flight. Set the
ALTITUDE_SOURCE field back to ALTIMETER. For more details about configuration
settings, see True Terrain Following Configuration.
Flight
Configuration steps to be done before the real flight are similar to ones described above for
simulator 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 real
position of the altimeter.
4. Make sure the only used payloads are true in the [PAYLOADS] section. Every
payload should be properly configured (see Payloads Setup).
5. Erase old log files if they are not more needed (see Log Files Management below for
details).
6. Connect both the PC and the mobile device to the same Wi-Fi network.
7. Switch on the drone and the DJI Remote Controller. Make sure the flight mode switch
is in P-mode. Run UgCS, UgCS for DJI, and make sure the drone has a good status in
UgCS.
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 data
from the radar altimeter until the drone is moving. Gently shake the drone by hand
until 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 and Safe Altitude to desired values.
Attention: It is strongly recommended not to set Target Altitude more than 10 meters for
the laser altimeter above water
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-mode
(S-mode for DJI M300 RTK) and back it to P-mode, then try again to press the
Configure button.
15. Take off using the DJI Remote Controller or from the UgCS and rise up to the
appropriate altitude (see limits from step 2).
16. Press the Activate button in the Terrain Following widget to start the flight in
terrain-following mode. The alternative way to activate it is to move the flight mode
switch to A-Mode then to F-mode. The alternative way doesn’t support with
M210/M300 series DJI of drones.
17. You may interrupt the flight by moving the flight mode switch to A-Mode (S-mode for
for DJI M300 RTK) then to P-mode or by pressing the Pause button in the Terrain
Following widget (UgCS-CPM).
The flight can be resumed by moving the flight mode switch to A-mode then to
F-mode or by pressing the Resume button in the Terrain Following widget
(UgCS-CPM). Resuming using the DJI Remote Controller don’t support with
M210/M300 series DJI of drones.
During pause you may manually control the drone, for example fly around an obstacle.
In this case the drone returns to the nearest point on the route by the shortest way
after resuming.
Attention: the flight mode on the DJI Remote Controller must be obligatory switched back to
P-mode before manually control. Otherwise, the drone returns to an unexpected resuming
point.
18. If the drone descends below the minimum allowed altitude or ascends above the
maximum allowed altitude (see step 2), it stops then climbs to increase its altitude to
value configured at step 12. You may manually correct drone position and resume the
flight according to recommendations at step 17.
19. After the mission has been completed the drone stops at the last waypoint then
climbs 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 the
desired landing position, and land. If the flight has been ended over the desired
landing point, press the Land button in UgCS.
21. Download log files (see Log Files Management).
TTF with new altimeter drivers

To use new (ROS2 based) altimeter drivers for TTF mode additional modules must be
configured. There are two modules:

Grasshopper Mode UgCS SkyHub User Manual
1. Altimeter monitor is responsible for sending altimeter telemetery to the Ground

Software.
2. TTF feeder is responsible for accurate altitude data supply for True Terrain Following.
The configuration of TTF using the new drivers includes these steps:
1. Configure new driver as described before. For example, see ROS2-based Ainteins
US-D1 Altimeter Setup.
2. Configure TTF for Simulation or real Flight mode as was shown above.
3. Add Altimeter monitor node description into Skyhub.launch file.
4. Add TTF feeder node description into Skyhub.launch file.
5. Restart the skyhub.
6. Configure [_MONITOR_SKYHUB%255FALTIMETER%255FMONITOR_0] section
parameters (see Configure Altimeter Monitor).
7. Configure [_MONITOR_SKYHUB%255FTTF%255FFEED_0] section parameters (see
Configure TTF Feeder).
Grasshopper Mode
Simulator Mode
UgCS SkyHub Using Ethernet) and set the ALTITUDE_SOURCE field in the [GH]
section to AUTOPILOT (see Grasshopper Configuration for additional options).
Disconnect from the UgCS SkyHub.
the drone. The descent points must be set as wait action, the wait duration defines
waiting time in the descent point.
3. Turn on the drone, the payload, and UgCS SkyHub device.
Remote Controller. Be sure that the flight mode switch on the DJI Remote Controller is
in the P-mode. Run the UgCS for DJI mobile application. Wait for the application
5. Click Menu, choose Simulator and enable the Simulator checkbox.
the mission.

the UgCS, Drone, and UgCS SkyHub indicators are green. Add the Grasshopper widget
and other widgets related to connected payloads by clicking the plus button.
8. Upload the route to the drone. After that, click the Read button in the Grasshopper
widget (UgCS-CPM), then click Configure and make sure the
Grasshopper ENABLED message appears in the UgCS-CPM log window at the
bottom side. If not, toggle the flight mode switch to A-mode (S-mode for DJI M300
RTK) and back it to P-mode, then try again to press the Configure button.
9. Arm the drone using the DJI Remote Controller then take off at the valid altitude (see
Altimeter Setup for details).
10. Click the Activate button in the Grasshopper widget (UgCS-CPM) to activate the
Grasshopper Flight mode. Check the drone simulator has started a mission.
11. Make sure the data from connected payloads are displayed in UgCS-CPM and
payloads send data.
12. Land the drone simulator after the mission has been completed and try to download
log files (see Log Files Management below). Check the log files for validity.
13. Erase all log files.
14. Restore the UgCS SkyHub settings in the [GH] section before the real flight. Set the
ALTITUDE_SOURCE field back to ALTIMETER. For more details about configuration
settings, see Grasshopper Configuration.
Flight
Configuration steps to be done before the real flight are similar to ones described above for
simulator 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 real
position of the altimeter.
4. Make sure the only used payloads are true in the [PAYLOADS] section. Every
payload should be properly configured (see Payloads Setup).
5. Erase old log files if they are not more needed (see Log Files Management below for
details).
6. Connect both the PC and the mobile device to the same Wi-Fi network.
7. Switch on the drone and the DJI Remote Controller. Make sure the flight mode switch
is in P-mode. Run UgCS, UgCS for DJI, and make sure the drone has a good status in
UgCS.
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 data
from the radar altimeter until the drone is moving. Gently shake the drone by hand
until 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 GH settings.
12. Set Target Altitude in order to follow terrain, set Descent To to desired values.
Attention: It is strongly recommended not to set Target Altitude more than 10 meters for
the laser altimeter above water
13. Press the Configure button. Wait for the Grasshopper ENABLED message.
14. If there is no message mentioned above, change the flight mode switch to A-mode
(S-mode for DJI M300 RTK) and back it to P-Mode, then try again to press the
Configure button.
15. Take off using the DJI Remote Controller or from the UgCS and rise up to the
appropriate altitude (see limits from step 2).
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 A-Mode
then to F-mode. The alternative way doesn’t support with M210/M300 series DJI of
drones.
17. You may interrupt the flight by moving the flight mode switch to A-Mode (S-mode for
DJI M300 RTK) then to P-mode or by pressing the Pause button in the Grasshopper
widget (UgCS-CPM).
The flight can be resumed by moving the flight mode switch to A-mode then to
F-mode or by pressing the Resume button in the Grasshopper widget (UgCS-CPM).
Resuming using the DJI Remote Controller don’t support with M210/M300 series DJI
of drones.
During pause you may manually control the drone, for example fly around an obstacle.
In this case the drone returns to the nearest point on the route by the shortest way
after resuming.
Attention: the flight mode on the DJI Remote Controller must be obligatory switched back to
P-mode before manually control. Otherwise, the drone returns to an unexpected resuming
point.
18. If the drone descends below the minimum allowed altitude or ascends above the
maximum allowed altitude (see step 2), it stops then climbs to increase its altitude to
value defined the FAIL_SAFE_ALTITUDE_M parameter in the [GH] section in config
and then the route pauses. You may manually correct drone position and resume the
flight according to recommendations in the step 17.

Obstacle Avoidance Mode UgCS SkyHub User Manual
19. After the mission has been completed the drone stops at the last waypoint then
climbs to increase its altitude to value defined the FAIL_SAFE_ALTITUDE_M
parameter in the [GH] section in config.
20. Return the drone to the desired landing position, and land. If the flight has been ended
over the desired landing point, press the Land button in UgCS.
21. Download log files (see Log Files Management).
Obstacle Avoidance Mode

Obstacle Avoidance mode enables to prevent collision of the drone (UAV) with obstacles
during the flight. The mode is available for neither manual/auto flights and TTF/GH flight
modes. Obstacle Avoidance mode is enabled for all supported DJI drones.
Description
The mode can be activated by pressing the Activate button on the Obstacle Avoidance widget
in UgCS-CPM. The activation status is kept in config (see the ACTIVATED parameter in the
[OA] section in config Obstacle Avoidance Configuration) so if the previous UgCS SkyHub
session was finished with activated mode, UgCS 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:
• DISARMED: not all conditions are executed, the distance to obstacles isn’t controlled.
• ARMED: the distance to obstacles is controlled.
Conditions of auto switching to ARMED state are defined with parameters

ACTIVATION_ALTITUDE_M and ACTIVATION_SPEED_MPS in the [OA] section in config. If
the drone (UAV) takes the altitude above ACTIVATION_ALTITUDE_M and the speed above
ACTIVATION_SPEED_MPS, Obstacle Avoidance becomes ARMED, otherwise becomes
DISARMED. The UgCS-CPM displays the Obstacle Avoidance ARMED or Obstacle Avoidance
DISARMED message. ACTIVATION_ALTITUDE_M is optional parameter, if the
ALTITUDE_SOURCE sets to ALTIMETER but the kit doesn’t include the altimeter,
ACTIVATION_ALTITUDE_M is ignored.
Obstacle detection is based on data received from the special collision detector or from a
connected altimeter. Obstacle distance source sets in the SAFETY_DISTANCE_SOURCE in the
[OA] section (see details in Obstacle Avoidance Configuration). Safe distance to an obstacle
is configured on the Obstacle Avoidance widget in UgCS-CPM. When Obstacle Avoidance is in
ARMED state and the distance to an obstacle is less than configured value, Obstacle
Avoidance executes the safety action. Default safety action is returning home, see other
safety actions in Obstacle Avoidance Configuration. UgCS-CPM shows current safety action
on the Obstacle Avoidance widget.
Usage

Obstacle Avoidance Mode UgCS SkyHub User Manual
UgCS SkyHub Using Ethernet) and set desired parameter values in the [OA] section
(see details in Obstacle Avoidance Configuration). Disconnect from the UgCS SkyHub.
the drone.
3. Turn on the drone, payloads, and UgCS SkyHub device.
Remote Controller. Run the UgCS for DJI mobile application. Wait for the application
the mission.
UgCS, Drone, and UgCS SkyHub indicators are green.
7. Add the Obstacle Avoidance widget and other widgets related to connected payloads
by clicking the plus button. To monitor the distance to obstacles using the special
obstacle detector, add the Payload Example widget by clicking the plus button and set
Payload Message ID equals 195 by clicking the settings button.
8. Go to the Obstacle Avoidance widget, click the Read button to read current OA
settings.
9. Set the Safe Distance to Obstacle to desired value. Make sure the Safety Action
shows desired action.
10. Press the Configure button. Wait for the
Safety Distance to Obstacle CHANGED message.
11. Press the Activate button, if the mode is deactivated. Wait for the
Obstacle Avoidance ACTIVATED message.
12. Upload the route to the drone using UgCS, launch auto, TTF, or Grasshopper Flight
mode or start manual flight.
13. If the distance to obstacles drops below the Safe Distance (see step 9), the safety
action will be activated.
14. You may interrupt the safety action using the DJI Remote Controller, then click the
Deactivate button. To activate Obstacle Avoidance mode again press the Activate
button on the Obstacle Avoidance widget.
15. Reconfiguring of Obstacle Avoidance mode is available any time.
16. After flights has been completed, return the drone to the desired landing position, and
land. Press the Deactivate button on the Obstacle Avoidance widget.

About Log Files UgCS SkyHub User Manual
About Log Files

Logs 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. For more
details, see Position Log.
System logs (-system.log extension) is a journal of various system events. Please keep it
while 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
• Echosounder data log in NMEA format: *-nmea.txt
• Gas detector data log in NMEA format: *-pergam-*.log
GPR data logs (-gpr.sgy suffix) contain radar trace data in SEG-Y format. These files can be
analyzed in PC applications such as Prism2 or similar software capable to read and process
GPR 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 proprietary
software.
The filename contains the sequential numbers (000001, 000002, etc.) before the time
synchronization and date/time (in YEAR-MONTH-DAY-HOUR-MIN-SEC format) after the
synchronization with the GPS. The time is UTC.
Logging (except system log) is started only by command from UgCS-CPM (using the
Record/Stop button) or automatically after taking off. The system log begins after onboard
software is started.
The logs with the same file names have been created simultaneously. When the filename is to
be 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 echosounder
only), and waypoints. This option is turned off by default. To enable it, set corresponding

parameters to values greater than zero in the [APP] section. More than one parameter can be
set simultaneously, in this case splitting will be fulfilled when the first of selected conditions
occurs:
[APP]
LOG_SPLIT_SIZE_MB=0 ; megabytes
LOG_SPLIT_TIME_S=0 ; seconds
LOG_SPLIT_TRACES=0
LOG_SPLIT_WAYPOINTS=0 ; 0 or 1
When LOG_SPLIT_WAYPOINTS is set to 1 or another value greater than zero, each log file will
contain 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 (supported for UgCS 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.
Position Log
Position logs contain common parameter group and the payload’s specific parameters if any.
Common parameter columns fill in with the latest received value. Specific parameter columns
fill in at the moment when the payloads received data, excluding altimeters, its columns write
as common parameters
If payloads don’t receive data during doubled period sets in the

APP/POSITION_LOG_PERIOD_MS configuration parameter, Position Log starts logging only
common parameters with given period.
Table 6.1 — Position Log. Common Columns Description
Colunm name Unit Description

Common
Elapsed ms Time elapsed since launch
Date received from the drone. Format:

Date
yyyy/MM/dd
Time received from the drone. Format:

Time
hh:mm:ss.ms
Pitch deg Pitch angle received from the drone
Roll deg Roll angle received from the drone


Yaw deg Yaw angle received from the drone
Latitude received from the drone in GPS

Latitude deg
system
Longitude received from the drone in

Longitude deg
GPS system
Altitude m Altitude relative to take-off point
Velocity m/s Horizontal velocity
• ON: RTK used

RTK Status
• OFF: RTK not used
Latitude received from the drone using

Latitude RTK deg
RTK station
Longitude received from the drone

Longitude RTK deg
using RTK station
Altitude AMSL received from the drone

Altitude RTK m
using RTK station
Table 6.2 — Position Log. Anemometer Columns Description

Anemometer
AIR:Speed m/s Measured wind speed
Measured wind direction relative to

AIR:Direction deg
magnetic north
Table 6.3 — Position Log. Altimeter Columns Description

Altimeter
ALT:Altitude m Measured altitude
Altitude after applying LPF, see

ALT:Filtered Altitude m
Altimeter Configuration
Table 6.4 — Position Log. Conductivity Meter Columns Description


Conductivity Meter
CM:CV0.5 mS/m Measured conductivity for 0.5 m
CM:IV0.5 ppt Measured inphase for 0.5 m
CM:CV1.0 mS/m Measured conductivity for 1.0 m
CM:IV1.0 ppt Measured inphase for 1.0 m
Table 6.5 — Position Log. Echosounder Columns Description

Echosounder
ECHO:Depth m Measured depth
Measured depth on high acoustic

ECHO:Depth Hi m frequency. Support for dual frequency
echosounder
Measured depth on low acoustic

ECHO:Depth Lo m frequency. Support for dual frequency
echosounder
Depth with taking into account sensor

position relative to the waterline. True
Depth calculates using ALT:Altitude
ECHO:True Depth m
value and the
ECHOSOUNDER/CABLE_LENGTH_M
configuration paramater.
Depth on high acoustic frequency with

taking into account sensor position
relative to the waterline. True Depth Hi
calculates using ALT:Altitude value
ECHO:True Depth Hi m
and the
configuration paramater. Support for
dual frequency echosounder


Depth on low acoustic frequency with
taking into account sensor position
relative to the waterline. True Depth Hi
calculates using ALT:Altitude value
ECHO:True Depth Lo m
and the
configuration paramater. Support for
dual frequency echosounder
ECHO:Temperature °C Temperature in degrees Celsius
ECHO:Trace Trace number in SEG-Y file
Trace number in SEG-Y file for high

ECHO:Trace Hi acoustic frequency. 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 deg Pitch angle received from the payload
ECHO:Roll deg Roll angle received from the payload
Table 6.6 — Position Log. Gas Detector Columns Description

Gas Detector
Measured concentration in ppm (parts

GAS:Methane ppm × m
per million) per meter


Specific status for the payload
• 0: on measuring (but the intensity
is low, measure value is not
accurate as 1)
• 1: on measuring (with good
intensity level)
• 2-4: N/A
• 5: not enough reflection (very low
GAS:Status intensity, value is not accurate)
• 6: too much reflection (high
density gas)
• 7: too much reflection (not able to
measure by interfering of sunlight,
etc…)
• 8: N/A
• 9: stop, no measuring
Table 6.7 — Position Log. GPS Receiver Columns Description

GPS Receiver
GNSS:Date Date
GNSS:Time Time
GNSS:Latitude deg Latitude
GNSS:Longitude deg Longitude
Altitude above/below mean-sea-level

GNSS:Altitude m
(geoid)


GPS Quality Indicator
• 0: fix not available
• 1: GPS fix
• 2: Differential GPS fix
• 3: PPS fix
GNSS:Quality Indicator
• 4: RTK
• 5: float RTK
• 6: estimated (dead reckoning)
• 7: manual input mode
• 8: simulation mode
GNSS:Satellites Number of satellites in use
GNSS:HDOP m Horizontal dilution of precision
Geoidal separation, the difference

between the WGS-84 earth ellipsoid and
GNSS:Undulation m
mean-sea-level (geoid). Negative value
means mean-sea-level below ellipsoid
Table 6.8 — Position Log. Ground-Penetrating Radar Columns Description

Ground-Penetrating Radar
GPR:Trace Trace number in SEG-Y file
Table 6.9 — Position Log. Metal Detector Columns Description

Metal Detector
MD:Channel 1 mV Measured response in channel 1
MD:Top Channel mV Measured response in top channel

Log Files Management UgCS SkyHub User Manual
Table 6.10 — Position Log. Obstacle Detector Columns Description

Obstacle Detector
Distance to the nearest obstacle in the

OBS:Sector1 m
sector 1

OBS:Sector2 m
sector 2 (central sector)

OBS:Sector3 m
sector 3
Table 6.11 — Position Log. Lightware SF30/D Altimeter Description

Lightware SF30/D
SF:RawF m First return raw
SF:FiltF m First return filtered
SF:SgthF % First return strength
SF:RawL m Last return raw
SF:FiltL m Last return filtered
SF:SgthL % Last return strength
SF:Noise Background noise
SF:Temp °C Temperature in degrees Celsius
Log Files Management

1. Connect the PC to the UgCS SkyHub using Wi-Fi (see Connect to UgCS SkyHub Using
Wi-Fi) or by wire (see Connect to UgCS SkyHub Using Ethernet).
2. Go to Settings > UgCS 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.
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.

Update Firmware UgCS SkyHub User Manual
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 All
button.
9. If you need to delete only certain files you may set the date and file extension filters
then press the Erase button.
10. You also have 2 options for downloading and deleting depending on logs creation
date: All dates and Today.
11. Note, if you choose Today, UgCS-CPM will work not only with today’s logs but with
yesterday’s and tomorrow’s. The reason is the possible difference between local date
and the UTC one used in log file names.
Figure 6.4 — UgCS-CPM. Manage Logs window
Update Firmware
2. Open UgCS-CPM and go to Tools > Manage UgCS SkyHub
3. The UgCS SkyHub (Aux) indicator is green when there is the connection to the UgCS
SkyHub device via Ethernet or Wi-Fi and red otherwise.

Update Firmware UgCS SkyHub User Manual
4. Since UgCS-CPM v3.15 this supports two hardware versions of UgCS SkyHub device.
The Device line on the Manage UgCS SkyHub page displays the version of the
connected device.
5. The latest UgCS SkyHub firmware compatible with the installed UgCS-CPM is located
in UgCS-CPM/firmware folder. Also, the latest UgCS SkyHub firmware is available
by the link https://integrated.ugcs.com/dl/s/skyhub-armhf for the UgCS SkyHub v2
device and by the link https://integrated.ugcs.com/dl/s/skyhub-arm64 for the
UgCS SkyHub v3 device.
6. Click the Browse button and choose the firmware archive file. If the device version is
UgCS SkyHub v2, should choose the file named as skyhub-v2-*.tar.gz. If the
device version is UgCS SkyHub v3, should choose the skyhub-v3-*.tar.gz file.
Then press the Upgrade button.
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 UgCS-CPM page. Wait for the UgCS
SkyHub device reboots and click the Reconnect button.
Figure 6.5 — UgCS-CPM. Manage UgCS SkyHub window

Uninstall Firmware UgCS SkyHub User Manual
Uninstall Firmware
Important: This article is intended for advanced users only.
To uninstall the firmware on the UgCS SkyHub 3 device, launch the command:
$ dpkg -r ugcs-skyhub
The configuration file and log files are kept.
The following steps describe the uninstall procedure for the UgCS SkyHub 2.
2. Download the latest firmware from our website:

https://integrated.ugcs.com/dl/s/skyhub-armhf
3. Upload manually the firmware to MicroSD root (path: /run/media/mmcblk1p1) by
FTP/SCP client.
4. Connect to UgCS SkyHub via ssh and move to the MicroSD root.
5. Unpack the firmware package and manually run the script to uninstall the UgCS
SkyHub firmware from the device:
$ tar -xvf skyhub-*.tar.gz

$ skyhub-*/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.

7 • Configuration Parameters UgCS SkyHub User Manual
7 • Configuration Parameters
• Configuration file location: /etc/skyhub/skyhub.conf
• File format: INI (https://en.wikipedia.org/wiki/INI_file)
Important: The UgCS SkyHub device should be restarted after any change in the
configuration file by reboot command or by power cycling.
UgCS SkyHub Configuration
Table 7.1 — UgCS SkyHub settings
Default
Parameter Description
Value
[APP]
Disable Wi-Fi when the drone is in air.

DISABLE_WIFI_IN_AIR false Set to true for Wi-Fi stops working
after takeoff.
LOG_SPLIT_SIZE_MB 0 Log splitting by file size, MB
LOG_SPLIT_TIME_S 0 Period of log splitting, s
Log splitting by trace number

LOG_SPLIT_TRACES 0 (applicable to GPR and echosounder
only)
Log splitting by waypoint count. When

LOG_SPLIT_WAYPOINTS 0 set to 1, each log will contain one line
with two waypoints.
Minimum allowable free space on the

MIN_FREE_SPACE_MB 300
microSD card, MB
PAYLOAD_START_DELAY_S 5 Start payload plugins delay, s
POSITION_LOG_PERIOD_MS 100 Period of writing to position log, ms
Period of payload status sending to

STATUS_PERIOD_MS 500
ground, ms
TELEMETRY_PERIOD_MS 200 Telemetry data refresh period, ms
[AUTOPILOTS]

Default
Value
Using the DJI autopilot except for
DJI false support for DJI M300 RTK.
Set to true if DJI drone is used.
Using the DJI autopilot to support DJI

M300 RTK.
DJI_M false
Set to true if DJI M300 RTK drone is
used.
Using the MAVLink-based autopilot.

MAVPILOT false Set to true if ArduPilot / PX4 based
drone is used.
[PAYLOADS]
Using the Ruttner water sampler.

DROP_MESSENGER false
Set to true if used.
Using the Echologger ECT D052/D032

ECHOLOGGER_DUAL false echosounder.
Using the Echologger ECT400

ECHOLOGGER_ECT false echosounder.
Using the FT Technologies FT742-SM

FTTECHNOLOGIES_FT742_SM false anemometer.
Using the Geonics EM38-MK2

GEONICS_EM_38_MK2 false conductivity meter.
Using the Geonics EM-61 metal

GEONICS_EM_61 false detector.
Using the Emlid Reach M2 GPS

GNSS false receiver.
Using the Lightware SF30/D laser

LIGHTWARE_SF30 false altimeter.

Default
Value
Using the Nanoradar MR72 radar
NANORADAR_MR false obstacle detector.
Using the Nanoradar NRA24 radar

NANORADAR_NRA false altimeter.
Using the Pergam Laser Falcon gas

PERGAM_FALCON false detector.
Using the Pergam LMM gas detector.

PERGAM_LMM false
Using the Radarteam Cobra low

RADARTEAM_COBRA false frequency GPR.
Using the RadSys Zond-12e high

RADSYS_ZOND false frequency GPR.
Table 7.2 — UgCS SkyHub advanced settings
Default
Value
[APP]
Log the system info such as CPU

SYSINFO_LOG false temperature, CPU frequencies, and CPU
usage (used for debugging only)
Log the debug info to the system log

VERBOSE false
(used for debugging only)
[PAYLOADS]
Using the custom payload.

PAYLOAD_EXAMPLE false

Autopilot Configuration UgCS SkyHub User Manual
Autopilot Configuration
DJI Autopilot Configuration
Table 7.3 — DJI autopilot settings
Default
Value
[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
UgCS SkyHub 2:
UART serial device. Default value
/dev/ttymxc3
SERIAL_DEVICE depends on the UgCS SkyHub
UgCS SkyHub 3:
generation
/dev/ttyS0
ArduPilot/PX4 Configuration
Table 7.4 — ArduPilot/PX4 connection settings
Default
Value
[MAV]
Connection type:
CONNECTION_TYPE UART • UART: to connect through UART
• TCP: to connect through Ethernet
MAVLink component Id of UgCS

COMPONENT_ID 5
SkyHub
Delay between sends of sensor data

SENDING_PERIOD_MS 20 from internal queue to the ground
station.

Autopilot Configuration UgCS SkyHub User Manual
Default
Value
UgCS SkyHub 2:
/dev/ttymxc3
UgCS SkyHub 3:
generation
/dev/ttyS0
SYSTEM_ID 2 MAVLink system Id of UgCS SkyHub
TELEMETRY_RATE 10 Telemetry frequency, Hz
Using MAVLink V2_EXTENSION

V2_EXTENSION false messages.
Set to true to enable it.

Flight Control Mode Configuration UgCS SkyHub User Manual
Flight Control Mode Configuration

True Terrain Following Configuration
Table 7.5 — TTF settings
Default
Value
[TF]
• ALTIMETER: Use external

altimeter as altitude source
ALTITUDE_SOURCE ALTIMETER
• AUTOPILOT: Use autopiot as
altitude source
FAIL_SAFE_ALTITUDE_M 20 Fail safe altitude, m
TARGET_ALTITUDE_M 3 Target flight altitude, m
Grasshopper Configuration
Table 7.6 — GH settings
Default
Value
[GH]

ALTITUDE_SOURCE ALTIMETER
• AUTOPILOT: Use autopilot as
altitude source
DESCENT_ALTITUDE_M 3 Target descending altitude, m
DESCENT_SPEED_MPS 1 Descent rate, m/s
FAIL_SAFE_ALTITUDE_M 5 Fail safe altitude, m
TARGET_ALTITUDE_M 5 Target flight altitude, m

Obstacle Avoidance Configuration
Table 7.7 — OA settings
Default
Value
[OA]
Safety action if the obstacle detected

• RETURN_TO_HOME: Activate
RETURN_TO_H return to home function
ACTION
OME • WARNING: Show warning
message
• NOTHING: Do nothing
Activate or deactivate Obstacle

ACTIVATED false
Avoidance mode
Altitude above which Obstacle

ACTIVATION_ALTITUDE_M 10
Avoidance mode switches to ARMED, m
Speed (relative to the ground) above

ACTIVATION_SPEED_MPS 0.2 which Obstacle Avoidance mode
switches to ARMED, m/s

• AUTOPILOT: Use autopilot as
ALTITUDE_SOURCE ALTIMETER altitude source.
Attention! Be careful using AUTOPILOT,
the altitude calculates as difference
between current AMSL and AMSL of the
latest taking off.
Distance less which safety action

SAFETY_DISTANCE_LIMIT_M 5
activates, m
• OBSTACLE_DETECTOR: Use
external obstacle detector as
OBSTACLE_DET obstacle distance source
SAFETY_DISTANCE_SOURCE
ECTOR • ALTIMETER: Use external
altimeter as obstacle distance
source

Navigation Configuration
See the Guidelines for navigation values choosing section for tips on tuning.
Table 7.8 — Navigation settings
Default
Value
[NAV]
0.5 m
The distance to the waypoint after
Permissible
ACCEPTANCE_RADIUS_M which the waypoint is considered
range: 0.01 – 10
reached.
m
Acceleration in the horizontal plane

(XY). The trajectory will be built in such
1 m/s2 a way that the drone’s acceleration
Permissible does not exceed the specified value.
HORIZONTAL_ACCEL_MSS
range: 0 - 10 The trajectory will also be built when
m/s2 turning, and the radius of curvature
depends on this acceleration when
performing the BankTurn maneuver.
Maximum vertical climbing speed.

5 m/s
Specifies a constraint when calculating
Permissible
MAX_CLIMB_SPEED_MS the trajectory. The device will not
range: 0 - 10
exceed this speed when moving along
m/s
the route and when avoiding obstacles.
Maximum vertical descend speed.

5 m/s
Specifies a constraint then calculating
Permissible
MAX_DESCENT_SPEED_MS the trajectory. The device will not
range: 0 - 10
exceed this speed when moving along
m/s
the route and when avoiding obstacles.
The maximum rate of change of

acceleration during the calculation of
0.1 m/s3 the trajectory. The trajectory is
Permissible calculated based on the constraint that
MAX_JERK
range: 0.1 – 1 the vehicle cannot change acceleration
m/s3 faster than the parameter value. While
following the route, the value is ignored
and not checked.

Default
Value
The proportional component of the PID
0.5 Permissible controller for calculating the speed
POS_P
range: 0.1 – 1 from the position error in the horizontal
plane.
The proportional component of the PID

controller for calculating the speed
0.5 Permissible from the position error in the vertical
POS_Z_P
range: 0.1 – 1 plane. Responsible for maintaining the
vertical component of speed by the
autopilot.
An experimental parameter for the

0 m/s delay compensation between
VELOCITY_FEED_FORWARD Permissible transmitting the target horizontal speed
range: 0 – 1.9 and receiving the actual value from the
flight controller.
An experimental parameter for the

0 m/s delay compensation between
VELOCITY_Z_FEED_FORWARD Permissible transmitting the target vertical speed
range: 0 – 1.9 and receiving the actual value from the
flight controller.
The acceleration the drone will perform

VERTICAL_ACCEL_MSS 0.5 m/s2
vertical maneuvers (along the Z axis).
The turn rate in the horizontal plane

YAW_RATE_DS 40 deg/sec (XY) at waypoints. Recomended range
from 15 to 60 deg/sec
Enable debug mode. In case of

unexpected situations that require the
false
collection and analysis of work logs,
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.
Configure TTF Feeder

You may edit /etc/skyhub/skyhub.laucnh and add these lines into it:
ttf_feeder = LifecycleNode(ppackage=‘ugcs_skyhub’, executable=‘ttf_feed’, name=‘ttf_feed’, namespace=‘’, output=‘screen’)
ld.add_action(ttf_feeder)

Altimeter Configuration UgCS SkyHub User Manual
This node works as a single instance. You should provide the only section of monitor
paramenters for all configured altimenter instances:
[_MONITOR_SKYHUB%255FTTF%255FFEED_0]
SOURCE=v1:altimeter:Lightware_SF30D:0
Table 7.9 — ROS-based TTF Feeder settings
Default
Value
[_MONITOR_SKYHUB%255FTTF%255FFEED_0]
Mask to select altimeneter as TTF

SOURCE v1:altimeter::
source
Altimeter Configuration
Table 7.10 — Common altimeter settings
Default
Value
[ALTIMETER]
MAX_ALTITUDE_M 20 Max altitude value, m
MIN_ALTITUDE_M 0.5 Min altitude value, m
Altimeter position above ground level,

ZERO_LEVEL_M 0
m
Maximum number of ignoring fails

IGNORE_ERRORS 0
received in a row
Type of filtering used for altimeter data

• NONE: no filtering be applied
FILTER_TYPE NONE
• LP: low-pass filter
• EF: estimator filter
Innovation consistency gate size (STD).

Determines how many standard
EF_FILTER_GATE 3 deviations can me accepted before
mesurments may be considered as
invalid. Available values: 1.0-10.0

Default
Value
Process noise for terrain offset, m/s.
EF_FILTER_PROC_NOISE 0.5 Less values will softer result greater.
Range 0.1 - 1.0
Altimeter noise. Less values for more

EF_FILTER_RNG_NOISE 0.2
precise sensor, m. Range 0.01 - 0.4
Expected terrain gradient, m/m. Less

EF_FILTER_TERR_GRAD 0.1 value for more flat surfaces. Range 0.0 -
1
(experimental option) Low-pass filter

LP_FILTER_LENGTH 0 length. Available options are: 0 (filter
disabled), 8, 12, 16, 20, 24, 28, 32
Nanoradar NRA24 Altimeter Configuration
Table 7.11 — Nanoradar NRA24 altimeter settings
Default
Value
[NANORADAR_NRA]
Averaging factor. The more is the

AVERAGING 2
smoother but rarer.
UgCS SkyHub 2:
/dev/ttymxc5
UgCS SkyHub 3:
generation
/dev/ttyAMA1
Lightware SF30/D Altimeter Configuration
Table 7.12 — Lightware SF30/D altimeter settings
Default
Value
[LIGHTWARE_SF30]

Default
Value
Log extended data to CSV position log
EXTENDED_CSV_LOG false with prefix SF. See details in Position
Log
Data sampling update rate. Only fixed

RATE_HZ 39 values are available: 20010, 10005,
5002, 2501, 1250, 625, 312, 156, 78, 39
Defines the distance for TTF or GH

mode
TTF_IS_FILTERED true • true: filtered distance is used
• false: raw distance is used
Defines the return for TTF or GH mode

TTF_RETURN_MODE LAST • FIRST: first return is used
• LAST: last return is used
Defines whether Lightware SF30/D is

TTF_SUPPORT true used as the altimeter for TTF or GH
mode
UART_BAUD_RATE 115200 UART baud rate, bps
UART_SERIAL_DEVICE /dev/ttyAMA1 UART serial device
ROS-based Lightware SF30/D Altimeter Configuration

You may edit /etc/skyhub/skyhub.laucnh and put these lines into it, or create new file and
refere it with LAUNCH parameter of DBUS Bridge plugin:
# ugcs_skyhub/launch/skyhub.launch.py
from launch import LaunchDescription

from launch_ros.actions import LifecycleNode
import launch_ros.actions
import launch_ros.events
import launch_ros.events.lifecycle
import launch
import launch.actions
import launch.events

import lifecycle_msgs.msg
launch.actions.DeclareLaunchArgument(
"log_level",
default_value=["info"],
description="Logging level",
)
def generate_launch_description():
ld = LaunchDescription()
logger = launch.substitutions.LaunchConfiguration("log_level")
skyhub_gateway_node = LifecycleNode(package='ugcs_skyhub', executable='gateway',

name='gateway', namespace='', output='screen',
arguments=['--ros-args', '--log-level', logger])
altimeter = LifecycleNode(package='skyhub_ros_altimeter', executable='skyhub_ros_altimeter',

name='skyhub_ros_altimeter', namespace='', output='screen',
ld.add_action(skyhub_gateway_node)
ld.add_action(altimeter)
return ld
This driver supports multiple instances of SD30D altimeters connected to the same UgCS
SkyHub device. You should provide additional section for every configured instance
(zero-base):
[_ALTIMETER_LIGHTWARE%255FSF30D_0]
IS_FILTERED=false
RATE_HZ=39
RETURN_MODE=LAST
UART_BAUD_RATE=115200
Table 7.13 — ROS-based Lightware SF30/D altimeter settings
Default
Value
[ROS_LIGHTWARE_SF30]
Data sampling update rate. Only fixed

RATE_HZ 39 values are available: 20010, 10005,
5002, 2501, 1250, 625, 312, 156, 78, 39
Defines the distance for TTF or GH

mode
IS_FILTERED true • true: filtered distance is used
• false: raw distance is used

Default
Value
Defines the return for TTF or GH mode
RETURN_MODE LAST • FIRST: first return is used
• LAST: last return is used
ROS-based Ainteins US-D1 Altimeter Configuration

You may edit /etc/skyhub/skyhub.laucnh and put these lines into it, or create new file and
refere it with LAUNCH parameter of DBUS Bridge plugin:
# ugcs_skyhub/launch/skyhub.launch.py
from launch import LaunchDescription

from launch_ros.actions import LifecycleNode
import launch_ros.actions
import launch_ros.events
import launch_ros.events.lifecycle
import launch
import launch.actions
import launch.events
import lifecycle_msgs.msg
launch.actions.DeclareLaunchArgument(
"log_level",
default_value=["info"],
description="Logging level",
)
def generate_launch_description():
ld = LaunchDescription()
logger = launch.substitutions.LaunchConfiguration("log_level")
skyhub_gateway_node = LifecycleNode(package='ugcs_skyhub', executable='gateway',

name='gateway', namespace='', output='screen',
altimeter = LifecycleNode(package='skyhub_ros_altimeter', executable='skyhub_ainteins_us_d1',

name='skyhub_ainteins_us_d1', namespace='', output='screen',
ld.add_action(skyhub_gateway_node)
ld.add_action(altimeter)
return ld

This driver supports multiple instances of US-D1 altimeters connected to the same UgCS
SkyHub device. You should provide additional section for every configured instance
(zero-base):
[_ALTIMETER_AINSTEIN%255FUS%255FD1_0]
UART_BAUD_RATE=115200
Table 7.14 — ROS-based Ainteins US-D1 altimeter settings
Default
Value
[ROS_US_D1]
Configure Altimeter Monitor

You may edit /etc/skyhub/skyhub.laucnh and add these lines into it:
alt_monitor = LifecycleNode(package='ugcs_skyhub', executable='altimeter_monitor', name='monitor', namespace='', output='screen')
ld.add_action(alt_monitor)
This node works as a single instance. You should provide the only section of monitor
paramenters for all configured altimenter instances:
[_MONITOR_SKYHUB%255FALTIMETER%255FMONITOR_0]
DATALOG=25376e65-2866-40b4-bbdf-7dfd08fb7c32
SOURCE=v1:altimeter::
Table 7.15 — ROS-based Altimeter monitor settings
Default
Value
[_MONITOR_SKYHUB%255FALTIMETER%255FMONITOR_0]
DATALOG Datalog ID to write altimeter values
SOURCE v1:altimeter:: Mask to select altimeneters to monitor

GPR Configuration UgCS SkyHub User Manual
GPR Configuration
Low Frequency GPR Configuration
Table 7.16 — Low Frequency GPR settings
Default
Value
[RADARTEAM_COBRA]
Bluetooth name of GPR device. May be

BLUETOOTH_NAME RT[0-9]+
a regular expression.
GPR model. Added to the SEG-Y log

MODEL SE-150
header.
TELEMETRY_PERIOD_MS 2000 Telemetry data refresh rate, ms
Trace time range, ns:

TIME_RANGE_NS 800 • 800 for newer devices
• 1600 for older devices

High Frequency GPR Configuration
Table 7.17 — High Frequency GPR settings
Default
Value
[RADSYS_ZOND]
High pass filter for the first channel:

• OFF: High pass filter is off
• WEAK: Weak high pass filter
FILTER_1 OFF • STRONG: Strong high pass filter

• SUPER_STRONG: Super strong high
pass filter
This parameter is also applicable in
single-channel mode.
High pass filter for the second channel.

FILTER_2 OFF
See FILTER_1 values.
IP_ADDRESS 192.168.0.10 IP-address of the GPR
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
MODE CHANNEL_1
• TX1_RX2: The first channel
transmitter to the second channel
receiver
• TX2_RX1: The second channel
transmitter to the first channel
receiver
• CIRCLE: Circle mode
Offset of the first antenna alongside the

OFFSET_FORWARD_M_1 0
heading line, m
Offset of the second antenna alongside

OFFSET_FORWARD_M_2 0
the heading line, m
Offset of the first antenna alongside the

OFFSET_RIGHT_M_1 0
traverse line, m

Default
Value
Offset of the second antenna alongside
OFFSET_RIGHT_M_2 0
the traverse line, m
PORT 23 TCP-port of the GPR
Pulse delay for the first channel. Should

be set up during the calibration.
From 0 to 1023.
PULSE_DELAY_1 0
single-channel mode and with the Aero
version.
Pulse delay for the second channel.

PULSE_DELAY_2 0
See PULSE_DELAY_1 values.
Log the raw data from echosounder

RAW_LOG false
Possible values are:

• SOUNDING: Normal operation mode
• CALIBRATION: Sine wave with
SOUNDING_MODE SOUNDING
frequency 20 MHz
• TEST: Sine wave with constant
period for any settings
Sample count per trace:

SAMPLE_COUNT 256
128, 256, 512, 1024
Trace time range for the first channel, ns:

50, 100, 200, 300, 500, 800, 1200, 2000.
TIME_RANGE_NS_1 300 single-channel mode and with the Aero
version.
Trace time range for the Aero version, ns:
50, 100, 200, 300, 500.
Trace time range for the second channel,

TIME_RANGE_NS_2 300 ns.
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.

RadSys zGPR Configuration
Table 7.18 — RadSys zGPR settings
Default
Value
[RADSYS_ZGPR]
IP_ADDRESS 192.168.0.10 IP-address of the zGPR
PORT 23 TCP-port of the GPR
Pulse delay should be set up during the

PULSE_DELAY 174 calibration.
From 0 to 7000
Sample count per trace.

SAMPLE_COUNT 512
From 32 to 8192
Defines how many traces are stacked.

STACKING 128
From 1 to 65535
Encodes the trace time range per sample.

From 0 to 14:
0: 17.857 ps
1: 35.714 ps
2: 71.429 ps
3: 89.286 ps
4: 125.000 ps
5: 142.857 ps
TIME_RANGE_PER_SAMPLE 7 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

Echosounder Configuration UgCS SkyHub User Manual
Echosounder Configuration
Table 7.19 — Common echosounder settings
Default
Value
[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 7.20 — Echologger ECT400 settings
Default
Value
[ECHOLOGGER_ECT]
Altimeter threshold in percents of a full

ALT_THRESHOLD_PCT 10
scale
Near field zone where detection is

DEADZONE_MM 300
ignored, mm
INTERVAL_S 0.1 Time between measures, sec
GAIN_DB 0 Amplifying gain, dB
Data filtering by tilt. The data are not

MAX_SENSOR_ANGLE_DEG 10 recorded if the sensor tilt value is
greater than the specified value, degree.

Default
Value
Data filtering by sensor dept in the
water.
Sensor depth is calculated as a
difference between the length of the
MIN_SENSOR_DEPTH_M 0.1 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.
• NMEA: Ouptut data in NMEA

format only
MODE NMEA
• ECHOSOUNDER: Output data in
NMEA and SEG-Y formats
RANGE_M 8 Measuring range, m

RAW_LOG false
UgCS SkyHub 2:
Serial device name. Default value
/dev/ttymxc1
UgCS SkyHub 3:
generation
/dev/ttyAMA3
Transmitted pulse length, micro

second.
TXLENGTH_US 50
The value is automatically increased if
it is less than the required value.
Echologger ECT D052/D032 Configuration
Table 7.21 — Echologger ECT D052/D032 settings
Default
Value
[ECHOLOGGER_DUAL]

ALT_THRESHOLD_HIGH_PCT 10
scale for high acoustic frequency

ALT_THRESHOLD_LOW_PCT 10
scale for low acoustic frequency

Default
Value

DEADZONE_HIGH_MM 500 ignored for high acoustic frequency,
mm

ignored for low acoustic frequency,
DEADZONE_LOW_MM 1000 mm. To support D032 model
recommend changing the value to 1500
mm.
INTERVAL_S 0.1 Time between measures, sec
FREQUENCY_HIGH_HZ 200000 High acoustic frequency, Hz
Low acoustic frequency, Hz. To support

FREQUENCY_LOW_HZ 50000 D032 model change the value to 30000
Hz.
Amplifying gain for high acoustic

GAIN_HIGH_DB 0
frequency, dB
Amplifying gain for low acoustic

GAIN_LOW_DB 0
frequency, dB
Data filtering by tilt. The data are not

MAX_SENSOR_ANGLE_DEG 10 recorded if the sensor tilt value is
greater than the specified value, degree.
Data filtering by sensor dept in the

water.
Sensor depth is calculated as a
difference between the length of the
MIN_SENSOR_DEPTH_M 0.1 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.
• NMEA: Ouptut data in NMEA

format only
MODE NMEA
• ECHOSOUNDER: Output data in
NMEA and SEG-Y formats

Default
Value
Measuring range for high acoustic
frequency, m. Only fixed ranges are
RANGE_HIGH_M 10 available: 1, 1.5, 2, 3, 5, 10, 15, 20, 30,
40, 50, 60, 70, 80, 90, 100, 120, 150, 200
meters
Measuring range for low acoustic

frequency, m. Only fixed ranges are
RANGE_LOW_M 10 available: 1, 1.5, 2, 3, 5, 10, 15, 20, 30,
40, 50, 60, 70, 80, 90, 100, 120, 150, 200
meters

RAW_LOG false
Internal ADC sampling frequency, Hz.

The sampling rate is relevant only for
SAMPLING_RATE_HZ 100000 the ECHOSOUNDER mode. Only fixed
ranges are available: 100000, 50000,
25000, 12500, 6250 Hz
UgCS SkyHub 2:
Serial device name. Default value
/dev/ttymxc1
UgCS SkyHub 3:
generation
/dev/ttyAMA3
Transmitted pulse length for high

TXLENGTH_HIGH_US 50
acoustic frequency, microsecond
Transmitted pulse length for low

TXLENGTH_LOW_US 50
acoustic frequency, microsecond

Gas Detector Configuration UgCS SkyHub User Manual
Gas Detector Configuration
Table 7.22 — Common gas detector settings
Default
Value
[GAS_DETECTOR]
MAX_CONCENTRATION_PPM 1000 Max gas concentration, PPM
MIN_CONCENTRATION_PPM 0 Min gas concentration, PPM
Background gas concentration value to

ZERO_LEVEL_PPM 0
be subtracted, PPM
Pergam Laser Falcon Configuration
Table 7.23 — Pergam Laser Falcon settings
Default
Value
[PERGAM_FALCON]
Measuring frequency, Hz. Available

FREQUENCY_HZ 2 values: 2 Hz, 1 Hz, or lower (see Note
under the table)
UART serial device. The built-in Pergam

SERIAL_DEVICE /dev/ttyUSB0
Laser Falcon UART adapter is used.
Note: The Pergam Laser Falcon measures the methane concentration every 100ms, and a
series of 5 measurements are combined into an average. The average and intermediate
measurements are stored on the 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.

Metal Detector Configuration UgCS SkyHub User Manual
Pergam LMm Configuration
Table 7.24 — Pergam LMm settings
Default
Value
[PERGAM_LMM]
Measuring frequency, Hz. Available

FREQUENCY_HZ 2
values: 2 Hz, 1 Hz, or lower.
UgCS SkyHub 2:
/dev/ttymxc5
UgCS SkyHub 3:
generation
/dev/ttyAMA1
Metal Detector Configuration
Table 7.25 — Common metal detector settings
Default
Value
[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 7.26 — Geonics EM-61 settings
Default
Value
[GEONICS_EM_61]
BAUD_RATE 9600 RS232 baud rate, bps
Bluetooth name of the device. May be a

BLUETOOTH_NAME EM61MK2[^*]+
regular expression.

Metal Detector Configuration UgCS SkyHub User Manual
Default
Value
Connection type:
• BLUETOOTH: to connect through
CONNECTION_TYPE RS232 bluetooth
• RS232: to connect through UART
Log extended raw data to CSV position

EXTENDED_CSV_LOG false
log with prefix MD
Defines the gain:

GAIN HIGH • HIGH: High gain
• LOW: Low gain
Log the raw data from metal detector

RAW_LOG false
UgCS SkyHub 2:
RS232 serial device. Default value
/dev/ttymxc1
UgCS SkyHub 3:
generation
/dev/ttyAMA3

Conductivity Meter Configuration UgCS SkyHub User Manual
Conductivity Meter Configuration
Table 7.27 — Common conductivity meter settings
Default
Value
[CONDUCTIVITY_METER]
MAX_OUTPUT_VALUE_MS_M 500 Max altitude value, mS/m
MIN_OUTPUT_VALUE_MS_M 0 Min altitude value, mS/m
Geonics EM38-MK2 Configuration
Table 7.28 — Geonics EM38-MK2 settings
Default
Value
[GEONICS_EM_38_MK2]
Bluetooth name of the device. May be a

BLUETOOTH_NAME em38mk2[^*]+
regular expression.
Channel number to display on the

Conductivity widget in UgCS-CPM.
Available values: 1-4.
• 1: conductivity (for 0.5 m in mS/m)
CHANNEL_NUMBER 3
• 2: inphase (for 0.5 m in ppt)
• 3: conductivity (for 1.0 m in mS/m)
• 4: inphase (for 1.0 m in ppt)
Connection type:
• BLUETOOTH: to connect through
CONNECTION_TYPE RS232 bluetooth
• RS232: to connect through UART
UgCS SkyHub 2:
UART serial device. The USB-UART
/dev/ttymxc1
SERIAL_DEVICE adapter is used. Default value depends
UgCS SkyHub 3:
on the UgCS SkyHub generation
/dev/ttyAMA3

Drop Messenger Configuration UgCS SkyHub User Manual
Drop Messenger Configuration
Table 7.29 — Pergam Laser Falcon settings
Default
Value
[DROP_MESSENGER
PWM pulse width to lock the drop

SERVO_LOCK_PULSE_MS 1.5
messenger, ms.
SERVO_PERIOD_MS 10 PWM signal period, ms.
PWM pulse width to unlock the drop

SERVO_UNLOCK_PULSE_MS 0.5
messenger, ms.
Anemometer Configuration
Table 7.30 — Common anemometer settings
Default
Value
[ANEMOMETER]
MAX_WIND_SPEED_MPS 10 Max wind speed value, m
MIN_WIND_SPEED_MPS 0 Min wind speed value, m
FT Technologies FT742-SM Configuration
Table 7.31 — FT Technologies FT742-SM settings
Default
Value
[FTTECHNOLOGIES_FT742_SM]
UART serial device. The USB-UART

SERIAL_DEVICE /dev/ttyACM0
adapter is used.

Obstacle Detector Configuration UgCS SkyHub User Manual
Obstacle Detector Configuration

Nanoradar MR72 Configuration
Table 7.32 — Nanoradar MR72 settings
Default
Value
[NANORADAR_MR]
Ignore side sectors during distance to

IGNORE_SIDE_SECTORS false
obstacle definition
UgCS SkyHub 2:
/dev/ttymxc1
UgCS SkyHub 3:
generation
/dev/ttyAMA3
GPS Receiver Configuration
Table 7.33 — GPS Receiver settings
Default
Value
[GNSS]
DATE_FORMAT yyyy/MM/dd Data format in Position Log
Payload ID to display value on the

PAYLOAD_ID 193
UgCS-CPM widget
UgCS SkyHub 2:
/dev/ttymxc1 Device name. Default value depends on
SERIAL_DEVICE
UgCS SkyHub 3: the UgCS SkyHub generation
/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.

Outputs Configuration UgCS SkyHub User Manual
Outputs Configuration
GPS Output Configuration
Table 7.34 — GPS Output settings
Default
Value
[OUTPUT_GPS]
UgCS SkyHub 2:
/dev/ttymxc1
ADDRESS depends on the UgCS SkyHub
UgCS SkyHub 3:
generation
/dev/ttyAMA3
Frequency of message sending. Only

FREQUENCY_HZ 5 fixed ranges are available: 1, 2, 3, 4, 5
Hz.
DBUS Bridge Configuration
Table 7.35 — DBUS Bridge settings
Parameter Default Value Description

[DBUS_BRIDGE]
ROS2 launch script to start up needed

LAUNCH /etc/skyhub/default.launch
nodes
LOGS_LEVEL info Detalization of log messages for nodes
LOGS_PATH /var/skyhub/logs Where to create logs for ROS2 logs
Where to look for installed ROS 2

ROS_ENV /opt/ugcs/ros/galactic
framework
SDK_PATH /opt/ugcs/skyhub-ros Where to look for installed Skyhub SDK
Where to look for ROS 2 packages for

MODULES_PATH /var/skyhub/modules
payloads

Guidelines for navigation values
choosing UgCS SkyHub User Manual
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 are 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).
VERTICAL_ACCEL_MSS parameter
There are two considerations of choosing the values of this parameter. First, the trajectories
(smooth and continuous functions of time, twice differentiable) will be built based on the
restriction on the allowable acceleration. Those, if the drone, while following the route, must
descend or climb at the speed specified in the mission, then the speed will change smoothly
according to this parameter. Secondly, the sudden change of the ground level in the Terrain
Following flight mode will be smoothed out so that the acceleration does not exceed this
value. This is an important point: if the acceleration is low, the drone can smooth out the
trajectory too much before or after the obstacle. Therefore, for flying over water and a smooth
surface, the acceleration value should be made in the region of 0.5 - 1 m/s2, and for flying
over a relief surface, it is worth increasing the value of the parameter - up to about 2-3 m/s2.
The exact value should be selected empirically.
YAW_RATE_DS parameter
The turn rate (Yaw) is smoothed by the PID controller before being passed to the flight
controller. The value specified in this parameter will be close to the targeted, but may be less
at the beginning and end of the turn maneuver.
VELOCITY_FEED_FORWARD parameter
Due to technical limitations, it is not possible to explicitly set the controller with exact
acceleration value to decelerate or accelerate: to compensate, a value is transmitted slightly
more or less than the targeted speeds so that the controller has time to provide more
accurate trajectory following. With a well-performing autopilot (reacting quickly and clearly
following speed targets), the value of the VELOCITY_FEED_FORWARD parameter should be
close to or equal to 0. In some cases, it allows you to compensate for the drop in altitude
during descent.

Guidelines for navigation values
choosing UgCS SkyHub User Manual
POS_P parameter
The higher the value, the more accurately the device follows the trajectory, but the higher the
probability of oscillations. Horizontal oscillations look like pecks in the direction of flight. If
the value is small, then the device moves unsteadily in a straight line or can serpentine or
overshoot waypoints during StopAndTurn maneuvers.
POS_Z_P parameter
Higher values allow you to follow the target trajectory more closely, but may cause vertical
oscillation. Vertical oscillations while descending look like fading and jumps with a
characteristic sound (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.
ACCEPTANCE_RADIUS_M parameter
If the distance between the current position of the drone and the target waypoint is less than
the specified parameter, then the waypoint is considered reached. At the moment of reaching
the notification of this event will be sent to the ground control station and the device can
proceed to build a trajectory to the next point. If the reached point was the last one, then the
device will keep the position inside the ball with the given radius.
LEAN_COMPENSATION parameter
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.

8 • Legal Notice UgCS SkyHub User Manual
8 • Legal Notice
SPH Engineering reserves the right to make corrections, enhancements, improvements and
other changes to its products and services and to discontinue any product or service.
Buyers should obtain the latest relevant information before placing orders and should verify
that such information is current and complete.
Buyer acknowledges and agrees that it is solely responsible for compliance with all legal,
regulatory and safety-related requirements concerning its products, and any use of our
products in its applications, notwithstanding any applications-related information or support
that may be provided by SPH Engineering. Buyer represents and agrees that it has all the
necessary expertise to create and implement safeguards which anticipate dangerous
consequences of failures, monitor failures and their consequences, lessen the likelihood of
failures that might cause harm and take appropriate remedial actions. Buyer will fully
indemnify SPH Engineering and its representatives against any damages arising out of the
use of any our products in safety-critical applications.
Disclaimer
Information in this document is subject to change without notice and does not represent a
commitment on the part of SPH Engineering. SPH Engineering provides this document “as is”
without warranty of any kind, expressed or implied, including, but not limited to, the implied
warranties of fitness or merchantability for a particular purpose. SPH Engineering may make
improvements and/or changes in this document or in the product(s) and/or the program(s)
described in this document at any time.
Trademarks
UgCS is a registered trademark of SPH Engineering.
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

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UgCS SkyHub

Revision Date Description

8 08.07.2022 • Added the PPS Sync description

7 20.05.2022 • Added the Target Altitude limit of TTF and Grasshopper

6 09.02.2022 • Added UgCS SkyHub 3

Copyright © 2019—2023, SPH Engineering 2 Revision 9 • September 2022

Revision Date Description

4 05.11.2020 • Added the True Terrain Following v2.0 settings

Copyright © 2019—2023, SPH Engineering 3 Revision 9 • September 2022

Revision Date Description

2 29.05.2020 • Added the Gas detector kit description

1 20.04.2020 • Initial release

Copyright © 2019—2023, SPH Engineering 4 Revision 9 • September 2022

Copyright © 2019—2023, SPH Engineering 5 Revision 9 • September 2022

8 • Legal Notice 109

Copyright © 2019—2023, SPH Engineering 6 Revision 9 • September 2022

UgCS SkyHub solution functions:

Copyright © 2019—2023, SPH Engineering 7 Revision 9 • September 2022

Interaction diagrams with drones

DJI GNSS Payload Drone System

DJI Air Ethernet

Figure 1.1 — DJI SDK drone interaction diagram

Figure 1.2 — Pixhawk autopilot based drone interaction diagram

Copyright © 2019—2023, SPH Engineering 8 Revision 9 • September 2022

LightWare Max range:

Ground-Penetrating Radar (GPR)

Radar System Zond Aero LF YES Ethernet YES

Copyright © 2019—2023, SPH Engineering 9 Revision 9 • September 2022

Radarteam Cobra CBD YES Bluetooth YES

Pergam Laser Falcon YES USB YES

Pergam LMm YES UART YES Obsolete

Geonics EM61Lite YES RS-232 YES

Copyright © 2019—2023, SPH Engineering 10 Revision 9 • September 2022

Emlid Reach M2 YES UART / USB -

Water sampler Tested with

Copyright © 2019—2023, SPH Engineering 11 Revision 9 • September 2022

Copyright © 2019—2023, SPH Engineering 12 Revision 9 • September 2022

Copyright © 2019—2023, SPH Engineering 13 Revision 9 • September 2022

• UgCS v4.3 or higher (referred below as UgCS)

Required desktop software for DJI drones:

Required desktop software for PX4 based drones:

Required desktop software for ArduPilot based drones:

Required mobile software for DJI drones:

• For DJI A3 / M600 / M600 Pro: DJI GO

Connect to UgCS SkyHub Using Wi-Fi

• SSID: UgCS-SkyHub-****** (where ****** is the UgCS SkyHub serial number)

Copyright © 2019—2023, SPH Engineering 14 Revision 9 • September 2022

Figure 4.1 — Windows Wi-Fi connection dialog. PIN mode

Figure 4.2 — Windows Wi-Fi connection dialog. Security key mode.

Connect to UgCS SkyHub Using Ethernet

Copyright © 2019—2023, SPH Engineering 15 Revision 9 • September 2022

Access to Onboard File System

Figure 4.3 — WinSCP settings

Table 4.1 — Onboard File System

UgCS SkyHub 2 UgCS SkyHub 3

MicroSD root /run/media/mmcblk1p1/

Configuration file /etc/skyhub/skyhub.conf /etc/skyhub/skyhub.conf

Copyright © 2019—2023, SPH Engineering 16 Revision 9 • September 2022

Setup Interface to DJI Autopilot

• SSID: UgCS-SkyHub- (where is the UgCS SkyHub serial number)