1. Configuration Parameter Reference#

1.1. SkyHub Configuration Parameters#

1.1.1. Application Settings#

Parameter

Default

Min

Max

Precision

Unit

Description

Log splitting size

0

0

10000

1

MB

Log splitting by file size, MB

Log splitting period

0

0

36000

1

s

Period of log splitting, seconds

Log splitting traces

0

0

1000

1

Log splitting by trace number (applicable to GPR and echosounder only)

Log splitting waypoints

False

Log splitting by waypoint count. If set to 1, each log will contain one line with two waypoints.

Minimum free space

300

0

10000

1

MB

Minimum allowable free space of internal SkyHub memory, MB

Payloads start delay

5

0

36000

1

s

Delay of payload plugin startup, seconds

Payload stauts period

500

0

36000

1

ms

Period of payload status sending to ground, ms

Telemetry refresh period

200

0

36000

1

ms

Telemetry data refresh period, ms

System information monitor

False

Enable system load statistics log sysinfo.log

Sysinfo period

1.0

0

60

0.1

s

Pooling period to write new records

Log the debug info

False

Enable debug log level for system.log

Green LED

False

Initial state for the Green LED pin (GPIO20). True = high state False = low state

Red LED

False

Initial state for the Red LED pin (GPIO21). True = high state False = low state

Payload Power pin

False

Initial state for the Payload Power pin (GPIO24). True = high state False = low state

1.1.2. Autopilots Settings#

Parameter

Default

Unit

Description

DJI

False

Enable SkyHub communication with DJI M300 / M350

MAVLINK

False

Enable SkyHub communication with Pixhawk based autopilots

1.1.3. Obstacle Avoidance Settings#

Parameter

Default

Min

Max

Precision

Unit

Options

Description

Safety action

STOP_AND_HOVER

RETURN_TO_HOME, STOP_AND_HOVER, WARNING, NOTHING

Drone action flying to close to obstacle

Activation altitude

10.0

0.0

500.0

0.01

m

Obstacle Avoidance activation altitude

Activation speed

4.0

0.0

15.0

0.01

m/s

Obstacle Avoidance activation speed

Altitude source

Default

Lightware SF30D, Ainstein US-D1, Nanoradar NRA24, DJI (autopilot), Default

Altitude source that will be used for obstacle avoidance activation

Minimal safety distance threshold

0.5

0.0

50.0

0.01

m

Minimal distance to obstacle to detect. Values below this limit will be ignored

Safety distance limit

5.0

0.0

50.0

0.01

m

Safety distance at which failsafe is triggered

Altimeter safety source

None

None, Lightware SF30D, Ainstein US-D1, Nanoradar NRA24, Default

Safety distance sources

Radar safety source

No radar

Nanoradar MR72, No radar

Safety distance sources

1.1.4. Grasshopper Flightmode Settings#

Parameter

Default

Min

Max

Precision

Unit

Description

Safe altitude

5

0.1

50

0.1

m

Safe altitude drone will take in case of failsafe or at the end of the route

Descendant altitude

3.0

0.0

1000.0

0.01

m

Grasshopper descent altitude

Target altitude

5.0

0.0

1000.0

0.01

m

Grasshopper flight target altitude

Descent speed

1.0

0.0

1000.0

0.01

m

Descent speed at grasshopper action points

1.1.5. Altimeter Settings#

Parameter

Default

Min

Max

Precision

Unit

Options

Description

Max

20

1

100

0.1

m

Higher value from sensor will appear red

Min

1

0.1

100

0.1

m

Lower value from sensor will appear red

Safe altitude

5

0.1

50

0.1

m

Safe altitude drone will take in case of failsafe or at the end of the route

Ignore errors

0

0

1000

1

Maximum number of ignoring fails received in a row

Default altimeter

The first configured altimeter

Lightware SF30D, Ainstein US-D1, Nanoradar NRA24, Mavlink (autopilot), The first configured altimeter

Default altimeter selection for flight navigation