UGCS SkyHub User manual

UgCS SkyHub
User Manual
integrated.ugcs.com
February 2022 Revision 6

Revision History
Revision Date Description
609.02.2022 • 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
513.01.2022 • 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
UgCS SkyHub User Manual
Copyright © 2019—2022, SPH Engineering 2Revision 6 • February 2022

Revision Date Description
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
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—2022, SPH Engineering 3Revision 6 • February 2022

Table of Contents
61 • Description
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6Compatible drones
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Interaction diagrams with drones
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Supported sensors
112 • Assembling
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11DJI M600 / M600 Pro
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13DJI M210 / M210 V2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19DJI M300 RTK
223 • Preparation
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22Prerequisites
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24Setup Interface to DJI Autopilot
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33Setup Interface to ArduPilot
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37Setup Interface to PX4
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41Setup the UgCS SkyHub Device
434 • Payloads Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43Altimeter Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45Ground-Penetrating Radar Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48Echosounder Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52Gas Detector Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53Metal Detector Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54Conductivity Meter Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56Remote Water Sampling Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56Anemometer Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57Obstacle Detector Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57GPS Receiver Setup
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59Outputs Setup
605 • Getting Started
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60True Terrain Following
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63Grasshopper Mode
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66Obstacle Avoidance Mode
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68About Log Files
UgCS SkyHub User Manual
Copyright © 2019—2022, SPH Engineering 4Revision 6 • February 2022

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75Log Files Management
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77Update Firmware
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78Uninstall Firmware
796 • Configuration Parameters
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79UgCS SkyHub Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82Autopilot Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84Flight Control Mode Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88Altimeter Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90GPR Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93Echosounder Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97Gas Detector Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98Metal Detector Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99Conductivity Meter Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100Drop Messenger Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100Anemometer Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101Obstacle Detector Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101GPS Receiver Configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102Outputs Configuration
1037 • Legal Notice
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103Disclaimer
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103Trademarks
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103Document License
UgCS SkyHub User Manual
Copyright © 2019—2022, SPH Engineering 5Revision 6 • February 2022

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.
1 • Description UgCS SkyHub User Manual
Copyright © 2019—2022, SPH Engineering 6Revision 6 • February 2022

Interaction diagrams with drones
DJI GNSS
Receiver
DJI Flight
Controller
DJI Air
Downlink
DJI CAN Bus
API Port UART
Laser / Radio
Altimeter
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 — Pixhawk autopilot based drone interaction diagram
Interaction diagrams with drones UgCS SkyHub User Manual
Copyright © 2019—2022, SPH Engineering 7Revision 6 • February 2022

Supported sensors
Manufact
urer
Sensor
name
Data
logging
on UgCS
Skyhub
Data /
control
interface
Power
feed
from
UgCS
Skyhub
Notes
Altimeter
(used for flight control in True Terraion-Following (TTF) and Grasshopper (GH) flight
modes)
Nanoradar NRA24 YES UART YES Max range:
50 m
LightWare
Lidar SF30/D YES UART YES Max range: 200 m
LightWare
Lidar SF11/C YES UART / I²C YES Obsolete
Attollo
Engineering WASP-200 YES UART YES Obsolete
Ground-Penetrating Radar (GPR)
Radar System Zond Aero
500 YES Ethernet YES
Radar System Zond Aero
1000 YES Ethernet YES
Radar System Zond Aero LF YES Ethernet YES
Radar System Zond-12e
Drone 500A YES Ethernet YES
Radar System Zond-12e
Drone 1000A YES Ethernet YES
Radar System Zond-12e Dual
1000a YES Ethernet YES
Radar System Zond-12e
Drone LF YES Ethernet YES
Radarteam Cobra Plug-In YES Bluetooth YES
Radarteam Cobra CBD YES Bluetooth YES
Supported sensors UgCS SkyHub User Manual
Copyright © 2019—2022, SPH Engineering 8Revision 6 • February 2022

Manufact
urer
Sensor
name
Data
logging
on UgCS
Skyhub
Data /
control
interface
Power
feed
from
UgCS
Skyhub
Notes
Magnetometer
SENSYS MagDrone R3
/ R4 - - YES
GPR feed
(GPS-out)
from UgCS
Skyhub
Geometrics MagArrow /
MagArrow-SX - - -
Tested for
compatibility
with TTF
GEM Systems GSMP-35U /
25U - - -
Tested for
compatibility
with TTF
Echosounders
Echologger ECT400 YES RS-232 YES Optionally
USB
Echologger ECT D052 YES RS-232 YES Optionally
USB
Echologger ECT D032 YES RS-232 YES Optionally
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
Geonics EM38-MK2 YES RS-232 /
Bluetooth YES
Supported sensors UgCS SkyHub User Manual
Copyright © 2019—2022, SPH Engineering 9Revision 6 • February 2022

Manufact
urer
Sensor
name
Data
logging
on UgCS
Skyhub
Data /
control
interface
Power
feed
from
UgCS
Skyhub
Notes
Other sensors and devices
FT
Technologies
FT742-SM
anemometer YES UART YES
Nanoradar
MR72
obstacles
detector
YES UART YES
Emlid Reach M2 YES UART / USB -
SPH
Engineering
Water sampler
messenger
release device
-GPIO / PWM YES
Tested with
Ruttner water
sampler
Supported sensors UgCS SkyHub User Manual
Copyright © 2019—2022, SPH Engineering 10 Revision 6 • February 2022

2 • Assembling
Assembling instructions differ depending on the drone used:
•DJI M600 / M600 Pro
•DJI M210 / M210 V2
•DJI M300 RTK
The following steps are described for UgCS SkyHub 2 but may be applied to UgCS SkyHub 3
with a minor difference.
DJI M600 / M600 Pro
UgCS SkyHub Device
1. Put the M600 brackets to UgCS SkyHub.
Figure 2.1 — UgCS SkyHub with mounting brackets for M600
2. Mount the UgCS SkyHub onto the drone and connect the cables.
2 • Assembling UgCS SkyHub User Manual
Copyright © 2019—2022, SPH Engineering 11 Revision 6 • February 2022

Figure 2.2 — The UgCS SkyHub mounted onto the M600 drone
3. Connect the UgCS SkyHub to the drone’s power outlet (DC-18V) using included power
cable.
Attention! Do not connect any payload to this connector unless you are sure about the
payload’s power voltage range.
Figure 2.3 — Connecting the UgCS SkyHub to power
4. Connect the UgCS SkyHub to the flight controller’s API port using included interface
cable. Pay attention to the correct connector orientation (left pin should be empty as
on the photo).
2 • Assembling UgCS SkyHub User Manual
Copyright © 2019—2022, SPH Engineering 12 Revision 6 • February 2022

Figure 2.4 — Connecting the UgCS SkyHub to the flight controller
DJI M210 / M210 V2
UgCS SkyHub Device
1. Unscrew the original cable cover using a 1.5 hex driver. The screws will be used to fix
the customized cable cover in place.
Figure 2.5 — M210 API and Power connectors
2. Snap the UgCS SkyHub on the right leg of the drone.
DJI M210 / M210 V2 UgCS SkyHub User Manual
Copyright © 2019—2022, SPH Engineering 13 Revision 6 • February 2022

Figure 2.6 — UgCS SkyHub on the M210 leg
3. Open the leg brace, slide the UgCS SkyHub up and close the leg brace. Check that the
retaining tab is fixed by the leg brace and the brace is closed completely.
Figure 2.7 — M210 leg brace
4. Snap the wire assembly onto the rear right propeller arm. Ensure that the gray UgCS
SkyHub connectors are on the UgCS SkyHub side.
DJI M210 / M210 V2 UgCS SkyHub User Manual
Copyright © 2019—2022, SPH Engineering 14 Revision 6 • February 2022

Figure 2.8 — Wire assembly
5. Put the 3-pin rectangular connector through the hole in the cable cover. Pushing it in
as far as it goes will make it easier to plug the connector into the drone.
Figure 2.9 — 3-pin rectangular connector to be plugged into the drone
6. Plug the connector into the drone. The white stripe is on the top.
DJI M210 / M210 V2 UgCS SkyHub User Manual
Copyright © 2019—2022, SPH Engineering 15 Revision 6 • February 2022

Figure 2.10 — 3-pin rectangular connector plugged into the drone
7. Push the cable cover over the connector making sure that the connector is fully
seated.
Figure 2.11 — M210 cable cover to be pushed
8. Push the cable cover fully into place. Screw the cable cover to the drone using the
screws from the original.
DJI M210 / M210 V2 UgCS SkyHub User Manual
Copyright © 2019—2022, SPH Engineering 16 Revision 6 • February 2022

Figure 2.12 — M210 cable cover installed
9. Make the connections to the UgCS SkyHub. Attention! The data connectors have a
different number of pins. Be sure to use the appropriate connectors and to line up the
red dots.
Figure 2.13 — UgCS SkyHub installed and connected
10. Plug the power cable into the drone.
DJI M210 / M210 V2 UgCS SkyHub User Manual
Copyright © 2019—2022, SPH Engineering 17 Revision 6 • February 2022

Figure 2.14 — Power cable connected to the M210
11. The installation is complete. The end result is shown on the Figure 2.15
Figure 2.15 — The UgCS SkyHub mounted onto the M210 drone
DJI M210 / M210 V2 UgCS SkyHub User Manual
Copyright © 2019—2022, SPH Engineering 18 Revision 6 • February 2022

DJI M300 RTK
UgCS SkyHub Device
1. DJI M300 RTK TTF kit include UgCS SkyHub with mounting brackets, data and power
cable and radio altimeter.
Figure 2.16 — DJI M300 RTK UgCS SkyHub TTF kit
2. Snap the UgCS SkyHub on the right leg of the drone.
Figure 2.17 — UgCS SkyHub on the M300 leg
DJI M300 RTK UgCS SkyHub User Manual
Copyright © 2019—2022, SPH Engineering 19 Revision 6 • February 2022

3. Connect UgCS SkyHub data and power cable to the drone OSD port. OSD port is
placed under rubber cover from the top right drone side. Fix the cable bracket on the
top of on M300 with M3 screw. Connect XT30 connector to UgCS SkyHub power in
port and 3pin Lemo connector to 3 pin UgCS SkyHub port.
Figure 2.18 — UgCS SkyHub data and power cable connected to the M300.
4. Attach altimeter to the right M300 leg under the UgCS SkyHub. Connect 5pin Lemo
connector to 5 pin UgCS SkyHub port.
Figure 2.19 — Altimeter attached to the M300.
DJI M300 RTK UgCS SkyHub User Manual
Copyright © 2019—2022, SPH Engineering 20 Revision 6 • February 2022