8. EchoNIMBUS SSS#
Note
The Sensor may be connected/disconnected only when the system is powered off.
Attach the Universal Heavy Payload mount to the bottom of your drone.
Attach the EchoNIMBUS to the Universal Heavy Payload mount.
Connect the power cable to the SkyHub power output port #7.
Connect the Ethernet cable to the SkyHub Ethernet port #10.
Power on the system.
Establish either the drone link or auxiliary connection with the SkyHub in the UgCS-CPM software.
On the main screen of the UgCS-CPM, click on the “Payloads” button.
From the available payload list, enable the “Cerulean Omniscan 450”.
Press the “Save” button and confirm system reload.
Wait until the reload process is finished and the connection to the SkyHub is reestablished.
On the main screen of the UgCS-CPM, click the “Start” button.
From the drop-down widget list, select the “Cerulean Omniscan 450” and press the blue “plus” button.
To access the configuration menu, press on the “three-dot” icon on the upper right corner of the widget and select “Settings”.
8.1. EchoNIMBUS SSS Configuration Parameters#
Parameter |
Default |
Min |
Max |
Precision |
Unit |
Options |
Description |
|---|---|---|---|---|---|---|---|
Min depth |
0.5 |
0.0 |
100.0 |
0.1 |
m |
If data is lower than this parameter + 1, the value will be red in CPM |
|
Max depth |
20.0 |
0.0 |
100.0 |
0.1 |
m |
If data is bigger than this parameter - 1, the value will be red in CPM |
|
Measurement interval |
0.1 |
0.0 |
100.0 |
0.1 |
s |
Wave emission interval in seconds |
|
Range |
20 |
0 |
100 |
1 |
m |
Maximal readings range threshold in meters |
|
Gain |
-1 |
-1 |
7 |
1 |
dB |
Set the sensor’s gain. -1 value is for automatic mode. |
|
Speed of sound |
1481 |
0 |
10000 |
1 |
mps |
Speed of sound in the target environment, m/s |
|
Deadzone |
300 |
0 |
10000 |
1 |
mm |
Set the sensor’s deadzone in mm. Start range at which echo data is recorded |
|
Altitude source |
Default |
Lightware SF30D, Ainstein US-D1, Nanoradar NRA24, Mavlink (autopilot), Default |
Select the altimeter as a source of height above surface |
||||
Data log dir |
/data/skyhub_logs |
Path on SkyHub storage where to put the log files in SVLOG format |
|||||
IP address left |
192.168.0.11 |
Left sensor’s IP address to connect |
|||||
IP address right |
192.168.0.10 |
Right sensor’s IP address to connect |
|||||
TCP Port |
51200 |
0 |
65535 |
1 |
Sensor’s TCP port to connect |
||
Min sensor depth |
0.1 |
0.0 |
100.0 |
0.1 |
m |
Minimal reading depth threshold in meters |
|
Mounting length |
0.6 |
0.0 |
100.0 |
0.01 |
m |
Mounting cable or arm length in meters |
|
Pulse length |
0.2 |
0.0 |
100.0 |
0.1 |
% |
% of total ping time for current range. 0.2 is typical. |
|
Filter duration |
0.15 |
0.0 |
100.0 |
0.1 |
% |
Filter duration. 0.15 is typical. |
|
Signal data points |
1200 |
200 |
1200 |
1 |
Number of signal data points in resulting profile |
||
Left transducer angle |
-90 |
-180 |
180 |
1 |
degree |
Angle of sight of the left transducer, degree |
|
Right transducer angle |
90 |
-180 |
180 |
1 |
degree |
Angle of sight of the right transducer, degree |
|
Payload Id |
192 |
192 |
220 |
1 |
Payload Id |