8. Magnetometer MagNIMBUS#
MagNIMBUS comes in two possible configurations:
Single sensor (beneath the drone) with foldable mount.
Gradiometer.
8.1. Single sensor assembly#
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 magnetometer to the Universal Heavy Payload mount.
Connect the cable to SkyHub Connector #4 (white).
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 “Magnetometer:MagNIMBUS”.
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 “Magnetometer:MagNIMBUS” 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”.
8.2. Gradiometer assembly#
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 magnetometer to the Universal Heavy Payload mount.
Connect the cable to SkyHub Connector #4 (white).
Attach vertical mast on the left side of the drone.
Note
Vertical mast has two points of contact:
Upper mount (in the shape of an arrow) should be attached to the top panel of the drone.
Lower mount (in the shape of a regular clip) should be attached to the leg of the drone.
Connect the USB cable to the SkyHub USB port #11 (white).
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 “Magnetometer:MagNIMBUS”.
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 “Magnetometer:MagNIMBUS” 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”.
Within the settings menu, navigate to the “Secondary connector” field and from the drop-down list select the USB port used for the mast.
8.3. Magnetometer MagNIMBUS Configuration Parameters#
Parameter |
Default |
Min |
Max |
Precision |
Unit |
Options |
Description |
|---|---|---|---|---|---|---|---|
Sensor data rate |
4 |
ms |
1, 2, 4, 8, 16, 32, 64, 128, 1000, 2000 |
Time in ms between measurements output. 1ms corresponds to 1kHz output frequency (should be set port baud rate 230400). 4ms corresponds to 250Hz, an adequate setting for most applications. |
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Magnetic environment |
AVERAGE |
AVERAGE, QUIET, NOISY |
Optimizes sensor for the magnetic environment |
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Filter mode |
OFF |
OFF, NOTCH_50HZ, NOTCH_60HZ, HP_10HZ, HP_20HZ, LP_10HZ, LP_20HZ |
The command to change filter mode must be sent to all connected sensors as they can store configurations. OFF - all filters disabled. LP_05, LP_10, LP_20 - low-pass filters with cut-off frequency 05, 10, 20 Hz |
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Accelerometer log |
ON |
ON, OFF |
Enables logging of IMU’s accelerometer data. |
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Vector mode |
ON |
ON, OFF |
The sensor reports Total field only (VECTOR_MODE=OFF) or Total field + XYZ components |
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Offset forward |
0.0 |
0.0 |
2.0 |
0.01 |
m |
The offset of the sensor N alongside the heading line, m Offset is calculated relative to the center of the GPS antenna or relative to the point for which coordinates are reported in 2x GPS antenna configurations like for DJI M350/M300 RTK. |
|
Offset right |
0.0 |
0.0 |
2.0 |
0.01 |
m |
The offset of the sensor N alongside the traverse line, m Offset is calculated relative to the center of the GPS antenna or relative to the point for which coordinates are reported in 2x GPS antenna configurations like for DJI M350/M300 RTK. |
|
Altitude source |
Default |
Lightware SF30D, Ainstein US-D1, Nanoradar NRA24, Mavlink (autopilot), Default |
Altimeter that will be used for altitude data |
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Primary connector |
Connector #4 (AMA3) |
Connector #1 (AMA1), Connector #2 (S0), Connector #4 (AMA3) |
SkyHub connector for Primary sensor |
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Secondary connector |
<empty> |
<empty>, USB 1, USB 2 |
SkyHub connector for Secondary sensor |
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UART baud rate |
230400 |
bps |
115200, 230400 |
Connection port baud rate, 230400 recommended by manufacturer |
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Payload Id |
192 |
192 |
220 |
1 |
Payload Id |