4. Quick Start: ArduPilot#

4.1. Hardware requirements#

  • SkyHub v3 device.

  • Drone running ArduPilot flight controller with firmware 4.* or higher.

  • Mounting parts to install SkyHub.

  • SkyHub3 cable for Pixhawk autopilot or cable provided by drone manufacturer to connect SkyHub with autopilot.

  • Power output (according to SkyHub required input power).

4.2. Software requirements for the Windows PC#

4.2.1. UgCS desktop download and setup process#

  1. Download the installation package: https://www.sphengineering.com/flight-planning/ugcs-downloads

  2. Run the setup file.

  3. Read and acknowledge the license agreement.

  4. In the component selection tab, select ArduPilot to install necessary autopilot compatibility.

../../../_images/ardupilot_setup.png

ArduPilot compatibility in UgCS setup#

  1. Installation complete.

4.2.2. UgCS Custom Payload Monitor download and setup process#

  1. Download the latest available CPM version here: https://www.sphengineering.com/integrated-systems/downloads

  2. Run the setup file.

  3. Select the SkyHub license file for the SkyHub you will be using.

SkyHub license file selection

  1. Read and acknowledge the license agreement.

  2. Installation complete.

Note

If you do not have a license file or need a new one, please reach out to us at support@ugcs.com and provide your SkyHub serial number.

4.3. SkyHub installation on the drone#

4.3.1. Physical setup#

Warning

Power off the system when connecting cables. To avoid short-circuiting or causing potentially harmful power fluctuations, it is recommended to power off the entire system before performing any cable plug-in or unplugging. Some of the payload sensors used are extremely sensitive to power changes and may be damaged.

  1. Mount SkyHub on the drone in a safe, fixed position.

  2. Connect SkyHub Connector #3 (red) to the flight controller using the SkyHub 3 cable for Pixhawk autopilot (or cable provided by drone manufacturer).

  3. Connect SkyHub to a power source.

4.3.2. UgCS configuration#

  1. Make sure UgCS version 5.10.2 or higher is used (download links can be found in Prerequisites section) and VSM for ArduPilot vehicles is installed.

  2. Configure UgCS ArduPilot VSM. Open vsm-ardupilot.conf in a text editor with administrator privileges. The file is located in the UgCS installation folder (default path C:Program Files (x86)UgCSbin). Find, uncomment, and adjust the following settings if needed.

../../../_images/ardupilot_vsm_config.png

ArduPilot VSM configuration#

  1. Establish Auxiliary connection between UgCS-CPM and SkyHub. See Preparation guide for instructions.

  2. When Auxiliary link is established, you should select it from the Link menu in UgCS-CPM.

../../../_images/auxiliary_link.png

Auxiliary Link settings in UgCS-CPM#

Note

The following functionalities are available when SkyHub is connected via the Auxiliary link:

  • Widget configuration in UgCS-CPM.

  • Data from payload in widgets.

  • Data download from SkyHub.

  • Firmware upgrade.

  • SkyHub configuration.

  1. ArduPilot configuration for SkyHub - On the autopilot, it is necessary to configure the serial port to which SkyHub will be connected.

Parameters:

SERIALx_BAUD 230400
SERIALx_PROTOCOL 2 MAVLink2

  1. Enabling MAVLink autopilot on SkyHub

In CPM, press the Settings button, choose SkyHub Autopilots from the menu and enable MAVLink. Press Save and choose to reload the system to apply changes.

../../../_images/enable_mavlink.png

Enabling MAVlink in UgCS-CPM#

If the configuration on the autopilot matches the default settings on SkyHub, the drone connection indicator in UgCS-CPM must turn green.

  1. Verify connection on ArduPilot using Mission Planner. In Mission Planner, open Setup -> Advanced -> MAVLink inspector.

../../../_images/mp_mav_insp.png

Mission Planner MAVlink inspector#

  1. In case of correct connection and configuration, the MAVLink inspector shows communication between SkyHub and the autopilot.

../../../_images/mp_mav_insp_data.png

Mission Planner MAVlink inspector data#

Vehicle 2 and Comp 5 correspond to the configured SkyHub System (2) and Component (5) ID.

  1. In case of correct autopilot, UgCS, and SkyHub configuration, Payload data b64 is displayed in the drone telemetry in UgCS.

4.4. Altimeter setup#

Note

There are two possible ways how the Altimeter can be attached to the Arudpilot drones:

  1. Connected to the SkyHub Connector #1.

  2. Connected directly to the drone.

4.4.1. When Altimeter is connected to SkyHub#

  1. Connect the altimeter to the SkyHub Connector #1 (yellow).

  2. Navigate to the “Payload” section.

  3. Enable the driver for the Altimeter you will use, and confirm the reload.

Note

In this example, we will use US-D1 model.

../../../_images/payloads-altimeter-example.png

US-D1 driver enabled#

  1. Next, in the UgCS-CPM software, navigate to the “All settings” section.

  2. From the drop-down list select “Mavlink settings”.

  3. Make sure that “Use SkyHub altimeter” option is enabled.

  4. Make sure that “Use drone altimeter” option is disabled.

  5. Click “Save” button and confirm reload.

../../../_images/mavlink-settings-skyhub.png

Altimeter toggles#

  1. Click on the drop-down list once more, and select the “Altimeters” section.

  2. Set the default altimeter to your model (in our example, Ainstein US-D1). Click “Save” and confirm reload.

../../../_images/default-ainstein.png

Default altimeter Ainstein#

  1. Go back to the main menu and cick “Start” button.

  2. From the drop-down list select your altimeter (in our example it is “Altimeter:Ainstein US-D1”) and press the “+” button.

../../../_images/altimeter-to-skyhub.png

Altimeter: Ainstein US-D1 widget#

  1. Altimeter configuration is complete.

../../../_images/us-d1-ready.png

Widget is ready#

4.4.2. When Altimeter is connected directly to the drone#

  1. Connect the altimeter to your drone.

  2. In the UgCS-CPM software, navigate to the “All settings” section.

  3. From the drop-down list select “Mavlink settings”

  4. Make sure that “Use SkyHub altimeter” option is enabled.

  5. Make sure that “Use drone altimeter” option is enabled.

  6. Click “Save” button and confirm reload.

../../../_images/altimeter-toggles.png

Altimeter toggles#

  1. Click on the drop-down list once more, and select the “Altimeters” section.

  2. Set the default altimeter to “Mavlink (autopilot)”. Click “Save” and confirm reload.

../../../_images/default-mavlink.png

Default altimeter Mavlink#

  1. Go back to the main menu and cick “Start” button.

  2. From the drop-down list select “Altimeter: MAVLINK” and press the “+” button.

../../../_images/altimeter-mavlink.png

Altimeter MAVLINK#

  1. Altimeter configuration is complete.

../../../_images/altimeter-ready.png

Widget is ready#