UGCS SkyHub User manual

UgCS SkyHub
User Manual
integrated.ugcs.com
November 2021 Revision 5

Revision History
Revision Date Description
503.11.2021 • Added the DJI M300 RTK description
• Added the ArduPilot/PX4 based drone description
• Added the Position Log description
• Added the Obstacle Avoidance Flight Mode description
• Added the Echologger ECT D052/D032 description
• 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 sound speed value to ECT400 Echosounder
specification
• 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 RadSys Zond Lite support
• Removed support of 12 ns and 25 ns time range for
RadSys Zond GPR
405.11.2020 • 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
UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 2Revision 5 • November 2021

Revision Date Description
303.09.2020 • 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
229.05.2020 • Added the Gas detector kit description
• Added the Echosounder kit description
• Fixed typos
120.04.2020 • Initial release
UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 3Revision 5 • November 2021

Table of Contents
71 • Description
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Features
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Applications
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Kits
102 • UgCS SkyHub Device
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Overview
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Specifications
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Connectors
163 • True Terrain Following Kit
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Radar Altimeter: Nanoradar NRA24
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17Laser Altimeter: Attollo WASP-200
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Laser Altimeter: Lightware SF11/C
194 • Ground-Penetrating Radar Kit
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 19Low Frequency GPR: Radarteam Cobra
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20High Frequency GPR: RadSys Zond
215 • Echosounder Kit
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Echologger ECT400 Echosounder
. . . . . . . . . . . . . . . . . . . . . . . . . . 22Echologger ECT D052/D032 Echosounder
236 • Gas Detector Kit
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Gas Detector: Pergam Laser Falcon
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24Gas Detector: Pergam LMm
257 • Metal Detector Kit
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25Metal Detector: Geonics EM-61
278 • Conductivity Meter Kit
. . . . . . . . . . . . . . . . . . . . . . . . . . . 27Conductivity Meter: Geonics EM38-MK2
299 • Remote Water Sampling Kit
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 29Water Sampler: Ruttner Water Sampler
3010 • Optional Sensors
. . . . . . . . . . . . . . . . . . . . . . . . . . 30Anemometer: FT Technologies FT742-SM
UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 4Revision 5 • November 2021

. . . . . . . . . . . . . . . . . . . . . . . . . . 30Radar Obstacle Detector: Nanoradar MR72
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30GPS Receiver: Emlid Reach M2
3111 • Assembling
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31DJI M600 / M600 Pro
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34DJI M210 / M210 V2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40DJI M300 RTK
4412 • Preparation
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44Prerequisites
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46Setup the UgCS SkyHub Device
. . . . . . . . . . . . . . . . . . . . . . . . . . 48Setup the UgCS for DJI Mobile Application
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49Setup Interface to DJI Autopilot
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55Setup Interface to ArduPilot
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56Setup Interface to PX4
5913 • Payloads Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59Altimeter Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63Ground-Penetrating Radar Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66Echosounder Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70Gas Detector Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71Metal Detector Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72Conductivity Meter Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73Remote Water Sampling Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73Anemometer Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74Obstacle Detector Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74GPS Receiver Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74Outputs Setup
7614 • Getting Started
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76True Terrain Following
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79Grasshopper Mode
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82Obstacle Avoidance Mode
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84About Log Files
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92Log Files Management
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94Update Firmware
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95Uninstall Firmware
UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 5Revision 5 • November 2021

9615 • Configuration Parameters
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96UgCS SkyHub Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99Autopilot Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101Flight Control Mode Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105Altimeter Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108GPR Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111Echosounder Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115Gas Detector Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117Metal Detector Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118Conductivity Meter Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119Drop Messenger Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120Anemometer Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120Obstacle Detector Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121GPS Receiver Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121Outputs Configuration
12316 • Legal Notice
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123Disclaimer
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123Trademarks
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123Document License
UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 6Revision 5 • November 2021

1 • Description
The UgCS SkyHub solution is a hardware and software set designed to enhance UAV
capabilities for industrial purposes.
UgCS SkyHub solution functions:
• Getting data from an external payload
• Getting flight parameters from a flight controller
• Data converting and recording in a format convenient for processing and analysis
• Implementing custom flight control modes
• Extended UAV diagnostics
Features
• Fully isolated and ESD-protected
external interfaces
• Reliable and convenient connectors
with lock, ideal for airborne applications
• 12 V power output with switch-off
function for payload connecting
• 3× UART / 1x RS-232 / 1× I²C / Ethernet
/ Wi-Fi / Bluetooth interfaces (depends
on the UgCS SkyHub edition, see Kits)
• Protection against input power’s
inverse polarity
• Extended operating temperature range
from −25°C to +50°C
Applications
• Custom payload integration with drone
• Advanced UAV flight control scenarios
• Using drones in an adverse
environment
1 • Description UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 7Revision 5 • November 2021

DJI GNSS
Receiver
DJI Flight
Controller
DJI Air
Downlink
DJI CAN Bus
API Port UART
Laser / Radio
Altimeter
I²C / UART
Onboard Software
(UgCS SkyHub)
Payload
Data
Log
Drone
Position
Log
System
Log
Payload Payload
Ethernet
Bluetooth / Wi-Fi
DJI Onboard
SDK
UgCS SKYHUB
Drone
Ground
DJI Remote
Controller
Radio Link
UgCS for DJI Mobile Application
Android Device
Laptop
Wi-Fi / Bluetooth
UgCS
Client
UgCS
UCS
Custom
Payload
Monitor
Wi-Fi
USB
UART / RS232
Figure 1.1 — DJI SDK drone interaction diagram
Ardupilot / PX4
Flight Controller
GNSS
Receiver
Air Telemetry
Module
Telemetry
Port
UART
Laser / Radio
Altimeter
Onboard Software
(UgCS SkyHub)
Payload
Data
Log
Drone
Position
Log
System
Log
Payload Payload
Ethernet
Bluetooth / Wi-Fi
Mavlink
UgCS SKYHUB
Drone
Ground
Ground Telemetry
Module
Radio Link
Laptop
UgCS
Client
UgCS
UCS
Custom
Payload
Monitor
Wi-Fi
USB / Wi-Fi
UART / RS232
Figure 1.2 — ArduPilot / PX4 based drone interaction diagram
1 • Description UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 8Revision 5 • November 2021

Kits
SPH Engineering provides various kits for different usage scenarios:
• True Terrain Following (TTF) kit
• Ground Penetrating Radar (GPR) kit (includes TTF kit)
• Gas Detector kit (with or without TTF kit)
• Echosounder kit (includes TTF kit)
• Metal Detector kit (with or without TTF kit)
• Conductivity Meter kit (with or without TTF kit)
Any kit provided includes the UgCS SkyHub device, cables, and related software.
One may extend the UgCS SkyHub solution capabilities by adding custom payloads using
UgCS SkyHub SDK. Find more details here: https://github.com/ugcs/skyhub-sdk
The UgCS SkyHub device has several editions allowing to connect different payloads:
• 3× UART edition
• 2× UART / 1× I²C edition
• 2× UART / 1× RS-232 edition
Also, one UART / RS-232 can provide either 5 V or 12 V voltage up to 1 A for the payload
powering.
Kits UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 9Revision 5 • November 2021

2 • UgCS SkyHub Device
Overview
The main device elements are illustrated below.
1 5432
1
Ethernet connector
Communicates with Ethernet-based
payloads (see Ethernet)
2
Antenna connector
For connecting Wi-Fi/Bluetooth
antenna or antenna cable (see
Antenna)
3
12V LED (red)
Indicates the presence of 12V power
output
4
12V power output
Feeds the payload (see 12V Power
Output)
5
Power input
Main power input (see Power Input)
54 1086
97
6
UART2 / RS-232 / I²C combined
Depends on the edition selected (see
UART2 / RS-232 / I²C)
7
Core power LED (green)
Indicates the presence of core power
8
UART1
Communicates with UART-based
payloads (see UART1)
9
Power LED (green)
Indicates the presence of input
power
10
UART0
Communicates with the flight
controller (see UART0)
2 • UgCS SkyHub Device UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 10 Revision 5 • November 2021

Specifications
General
Compatible drones
• DJI M210 / M210 V2
• DJI M600 / M600 Pro
• DJI M300 RTK
• Custom frames based on DJI A3 flight controller
• Pixhawk with ArduCopter / PX4
Temperature range −25°C to +50°C
Power input 15 V to 36 V, 3 W without payload, up to 15 W with payload
Power output 12 V, up to 1 A
Computational Core
System-on-Module Digi ConnectCore 6UL
CPU NXP i.MX6UL
CPU frequency up to 528 MHz
RAM 256 Mbytes
Flash 256 Mbytes
MicroSD 32 Gbytes, industrial grade
OS Yocto Project Linux
Interfaces
UART up to 3 (depends on the edition selected)
RS-232 up to 1 (depends on the edition selected)
I²C up to 1 (depends on the edition selected)
Wi-Fi Dual-band 802.11ac
Bluetooth 4.2 with BLE support
Ethernet 10/100 Mbit
Mechanical
Dimensions (L × W × H) 109 × 69 × 34 mm
Specifications UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 11 Revision 5 • November 2021

Mechanical
Weight 245 g with mountings
TTF kit total weight 413 g
Connectors
Power Input
• Mating connector on the cable side: Amass XT30U-F
• Voltage range: 15 V to 36 V
• Protected against reverse polarity
12
Pinout (device side)
Pin Name Description
1 +V Power supply voltage
2 GND Power supply ground
12V Power Output
• Mating connector on the cable side: Amass XT30U-M
• Voltage: 12 V ± 1%
• Current: up to 1 A
1 2
Pinout (device side)
Pin Name Description
1 +12V Power output voltage
2 GND Power output ground
UART0
Dedicated to communicating with the flight controller.
• Mating connector on the cable side: Lemo FGG.0B.303
• Logic level: 3.3 V
• Serial device path: /dev/ttymxc3
• Isolated from the CPU
Connectors UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 12 Revision 5 • November 2021

• ESD-protected
1
23
Pinout (device side)
Pin Name Description
1 UART0_TX UART0 transmit line
2 UART0_RX UART0 receive line
3 GND Ground
UART1
Dedicated to communicating with the payload equipped with the UART interface.
• Mating connector on the cable side: Lemo FGG.0B.305
• Logic level: 3.3 V
• Serial device path: /dev/ttymxc5
• Isolated from the CPU
• ESD-protected
1
2
34
5
Pinout (device side)
Pin Name Description
1 +5V 5 V output voltage
2 +3V3 3.3 V output voltage
3 UART1_TX UART1 transmit line
4 UART1_RX UART1 receive line
5 GND Ground
UART2 / RS-232 / I²C
The function of this connector depends on the selected edition while ordering. Also, one may
choose the power output voltage of either 5 V or 12 V.
Attention! Only one particular interface is available after the purchase and it can’t be
changed.
Connectors UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 13 Revision 5 • November 2021

UART2
Dedicated to communicating with the payload equipped with the UART interface.
• Mating connector on the cable side: Lemo FGG.0B.304
• Logic level: 3.3 V
• Serial device path: /dev/ttymxc1
• Isolated from the CPU
• ESD-protected
1
23
4
Pinout (device side)
Pin Name Description
1 +5V or +12V 5 V / 12 V output voltage up to 1 A
(depends on the edition)
2 UART2_RX UART2 receive line
3 UART2_TX UART2 transmit line
4 GND Ground
RS-232
Dedicated to communicating with the payload equipped with the RS-232 interface.
• Mating connector on the cable side: Lemo FGG.0B.304
• Logic level (typical): −5.4 V to +5.4 V
• Serial device path: /dev/ttymxc1
• Isolated from the CPU
• ESD-protected
1
23
4
Pinout (device side)
Pin Name Description
1 +5V or +12V 5 V / 12 V output voltage up to 1 A
(depends on the edition)
2 RS232_RX RS-232 receive line
3 RS232_TX RS-232 transmit line
4 GND Ground
Connectors UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 14 Revision 5 • November 2021

I²C
Dedicated to communicating with the payload equipped with the I²C interface.
• Mating connector on the cable side: Lemo FGG.0B.304
• Logic level: 3.3 V
• Isolated from the CPU
• ESD-protected
1
23
4
Pinout (device side)
Pin Name Description
1 +5V 5 V output voltage
2 SDA I²C data line
3 SCL I²C clock line
4 GND Ground
Ethernet
Dedicated to communicating with the payload equipped with the Ethernet interface.
• Mating connector on the cable side: RJ-45
• Bitrate: 10/100 Mbit
Antenna
• Mating connector on the cable side: Reverse-Polarity (RP) SMA Male
• Frequency: combined 2.4 and 5 GHz
Connectors UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 15 Revision 5 • November 2021

3 • True Terrain Following Kit
The True Terrain Following (TTF) enables the drone (UAV) to accurately follow the terrain
during the flight, based on data received from the laser or radar altimeter. True Terrain
Following enables the drone to fly at low and constant AGL altitudes (up to 1 meter) without a
need to import precise Digital Elevation Model (DEM) height-map into UgCS.
Components:
• UgCS SkyHub device
• Laser altimeter: Attollo WASP-200, Lightware SF11/C, or
• Radar altimeter: Nanoradar NRA24
• Mounting kit, cables
Radar Altimeter: Nanoradar NRA24
Nanoradar NRA24 is the compact K-band radar altimeter. It adopts 24GHz-ISM frequency
band with the advantages of 2 cm measuring accuracy, small size, high sensitivity,
lightweight, and stable performance.
Figure 3.1 — Nanoradar NRA24 altimeter
Specifications
Interface UART
Effective measurement
range 0.1 m to 30 m
Measuring accuracy 2 cm
Power input 5 V to 20 V, 1.5 W
Temperature range −40°C to +50°C
Weight 168 g with mountings
3 • True Terrain Following Kit UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 16 Revision 5 • November 2021

Laser Altimeter: Attollo WASP-200
Attollo WASP-200 is the ultra-compact laser rangefinder device. It is capable to measure the
distance quickly and accurately and supports range update rates of up to 56
ranges-per-second with improved accuracy at lower repetition rates with a variety of filtering
and averaging features.
Figure 3.2 — Attollo WASP-200 altimeter
Specifications
Interface UART
Effective measurement
range 0.2 m to 125 m
Measuring accuracy < 10 cm
Power input 5 V to 16 V, < 75 mA
Temperature range −40°C to +60°C
Weight 30 g
Laser Altimeter: Attollo WASP-200 UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 17 Revision 5 • November 2021

Laser Altimeter: Lightware SF11/C
LightWare SF11/C LIDAR Range Sensor is a compact, lightweight altimeter for
above-ground-level measurement. It supports range update rates of 20 ranges-per-second,
includes serial, I²C and USB interfaces.
Figure 3.3 — Lightware SF11/C altimeter
Specifications
Interface I²C, UART, USB
Effective measurement
range 0 m to 120 m
Measuring accuracy ± 10 cm
Power input 5 V, < 200 mA
Temperature range 0°C to +40°C
Weight 35 g
Laser Altimeter: Lightware SF11/C UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 18 Revision 5 • November 2021

4 • Ground-Penetrating Radar Kit
Ground-penetrating radar (GPR) kit aims to locate underground objects, explore soil layers, for
bathymetry purposes.
Components:
• UgCS SkyHub device with True Terrain Following Kit
• Low frequency or high frequency GPR
• Cables
Low Frequency GPR: Radarteam Cobra
Low frequency GPR is more appropriate for detecting large objects, soil profiling, bathymetry.
It is characterized by larger penetrating depth and larger detectable object dimensions.
Figure 4.1 — Low frequency GPR
Specifications
Center frequency 80 MHz 124 MHz
Frequency range 20 MHz to 140 MHz 20 MHz to 280 MHz
Bandwidth 120 MHz 260 MHz
Dimensions (L × W × H) 139 × 15 × 21 cm 92 × 22 × 22 cm
Weight 4.9 kg 4.6 kg
4 • Ground-Penetrating Radar Kit UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 19 Revision 5 • November 2021

High Frequency GPR: RadSys Zond
High frequency GPR it characterized by increased resolution allowing to detect smaller
objects. Also, it is more compact and lightweight. The drawback is lower penetrating depth.
High frequency GPR is ideal for small object detection, surface layer soil profiling.
Figure 4.2 — High Frequency GPR
Specifications
Center frequency 1000 MHz 500 MHz 500 MHz (Aero
version)
Frequency range 600 MHz to 1300
MHz 200 MHz to 900 MHz 200 MHz to 900 MHz
Bandwidth 700 MHz 800 MHz 800 Mhz
Dimensions (L × W ×
H) 41 × 31 × 18 cm 41 × 31 × 18 cm 41 × 31 × 16 cm
Weight 3.2 kg 3.2 kg 2.1 kg
High Frequency GPR: RadSys Zond UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering 20 Revision 5 • November 2021