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