Release notes#

UgCS-CPM and SkyHub firmware v.4.4.0#

Note

Please contact our support team to obtain instructions if you would like to try this version.

Whats New in 4.4.0#

  1. DJI M400 drone support (requires new SkyHub smart cable for DJI M400).

  2. Dynamic configuration of Zond Aero GPRs, Echologger SBES echo sounders, and Cerulean MBES echo sounders during flight.

  3. Falcon+ sensor will update zero-level on Record button press.

  4. Falcon+ sensor will report if no data for more than 2 seconds.

  5. Support for displaying a list of configured sensor instances and deleting them.

  6. Experimental support for Cerulean OmniScan 450 side-scan sonar.

  7. Data for Cerulean Surveyor 240-16 is geotagged using MBES head coordinates.

  8. Added the Disable Temporarily button to disable Obstacle Avoidance at any time.

  9. Added the Set cable length button for SBES devices to simplify configuration.

Fixed in 4.4.0#

  1. Fixed safety check on AGL waypoints: drone will trigger safe altitude emergency action if it flies AGL bellow minimal altimeter range plus 2 meters or above the maximal altimeter range minus 2 meters.

  2. Fixed license checks: Echologger and GPR modules properly check the license availability.

  3. Fixed MagNIMBUS initialization to improve stability.

  4. Fixed RadSys GPR initialization to improve stability.

UgCS-CPM and SkyHub firmware v.4.3.2#

Whats New in 4.3.2#

  1. Added support for Laser Falcon+ methane detector.

Fixed in 4.3.2#

  1. Fixed GPR connection issue.

UgCS-CPM and Skyhub firmware v.4.3.1#

Whats New in 4.3.1#

  1. Sensors can now be configured via the GUI:

    • Individual payloads may be enabled/disabled with the “Payloads” section.

    • Autopilot selection and configuration may be done in the “Settings” section.

    • All common parameters are available for configuration in the “Settings” section with drop-down menus.

    • There are dedicated widgets for all supported sensors. Every sensor instance may be configured with the “Settings” menu of the corresponding widget.

    • Added the ability to configure individual widgets for multiple identical sensors.

  2. Improved driver for GPRs:

    • The device now reconnects automatically when the connection is lost.

    • Added GPR transmitter cutoff when altitude is above 1 meter.

  3. Increased TTF trajectory precision for DJI drones:

    • GH/TTF mission execution uses the angle-control mode to fly the drone.

    • Trajectory deviation on long lines has been reduced to 0.1-0.3 meters.

  4. Added additional diagnostic messages for altimeters used in TTF mode:

    • Altimeters’ connection/disconnection events are reported to CPM.

    • Missing configuration for altimeters is reported to CPM.

  5. Added NTP server:

    • Works in conjunction with the Cerulean Surveyor module.

    • May be used by third-party modules to get the UTC time correction.

  6. Improved Obstacle Avoidance subsystem:

    • Obstacle avoidance uses embedded DJI sensors (except the downward one).

    • Embedded DJI sensors are enabled or disabled using the DJI Pilot application.

    • Obstacle avoidance will be activated automatically if the TTF/GH mission is active or if the configured altitude/speed is reached.

    • Obstacle avoidance may be configured to work with any number of altimeters or radars connected to the SkyHub.

    • Default obstacle avoidance parameters have been tuned: activation speed has been changed from 0.2 m/s to 4.0 m/s.

  7. Added Laser Falcon+ methane detector support.

  8. Added support for Cerulean Surveyor 240-16.

  9. Improved performance of USB connections:

    • The SkyHub uses a new XHCI USB kernel module.

    • Greatly improves the stability for multiple MagNIMBUS devices working together.

  10. RC lost event: the drone will perform a failsafe action in case of RC disconnection in flight:

    • The drone now performs the action configured with the DJI Pilot application for the auto mission.

    • In the TTF/GH mission, the drone now performs the RC loss action configured for the mission in UgCS.

    • In case of return-to-home action, the drone ascends to the failsafe altitude and then returns to the point of takeoff.

  11. Added button to reset to factory default configuration:

    • There is a new button in the Tools menu to reset all the configuration changes to the default state.

    • This reset may be performed only on the ground and only if there is a Wi-Fi connection to the SkyHub.

    • After the factory reset, the SkyHub must be reconfigured from scratch.

Fixed in 4.3.1#

  1. Fixed MagNIMBUS module functionality in vector mode: Correctly reports the data in vector mode for multiple devices.

  2. Fixed Echologger true depth value if sensor reports zero value: True Depth columns are not filled if the sensor reports zero value.

  3. Fixed DHCP server operation for stable configuration of Cerulean MBES and RadSys GPR.

  4. Fixed some internal bugs, which caused wrong values in SEG-Y files.

  5. Fixed installer behavior under unstable network conditions: The installer properly detects network disconnection while the update is in progress.

UgCS-CPM and Skyhub firmware v.4.2.1#

Whats New in 4.2.1#

  1. GNSS output module supports NMEA RMZ messages.

Fixed in 4.2.1#

  1. Correct altitude values in GGA message of GNSS output module.

  2. Correct DHCP server configuration.

UgCS-CPM and Skyhub firmware v.4.2.0#

Whats New in 4.2.0#

  1. Mavlink drones can now fly TTF missions with the altimeter connected to the SkyHub.

  2. Mavlink drones can now be configured using the SkyHub config file.

  3. The SkyHub altimeter can be configured with CPM GUI.

Fixed in 4.2.0#

  1. Improve GNSS output precision.

  2. FT742 anemometer driver reports embedded compass state.

  3. The default minimal altitude for the altimeter was changed from 0.5 to 1 meter.

  4. Fix missing messages in the CPM console under the high load.

  5. The Skyhub checks uploaded missions for at least one Rangefinder point.

  6. Fix the true depth header which the Echologger writes into SEGY files.

UgCS-CPM and Skyhub firmware v.4.1.2 HOTFIX#

Fixed in 4.1.2#

  1. Laser Falcon driver may get stuck on the startup.

UgCS-CPM and Skyhub firmware v.4.1.1#

Whats New in 4.1.1#

  1. Supports DJI M350 RTK and DJI M300 RTK drones.

  2. License required for SkyHub functions, existing customers should request a license file from SPH Engineering or a reseller.

  3. Support for FT42 anemometer with multi instances.

  4. Improved performance for MR72 obstacle detector.

  5. Improved performance for NRA24 altimeter.

Fixed in 4.1.1#

  1. Improved position.csv log file structure.

  2. Reduced number of records in position.csv log file.

  3. Improved correction of RTK coordinates.

  4. Reduced CPU load for MagNIMBUS and SENSYS MagDrone R1 drivers.

  5. Problems with communication with sensors.

UgCS-CPM and Skyhub firmware v.4.1.0#

Whats New in 4.1.0#

  1. Supports DJI M350 RTK and DJI M300 RTK drones.

  2. License required for SkyHub functions, existing customers should request a license file from SPH Engineering or a reseller.

  3. Support for FT42 anemometer with multi instances.

  4. Improved performance for MR72 obstacle detector.

  5. Improved performance for NRA24 altimeter.

Fixed in 4.1.0#

  1. Improved position.csv log file structure.

  2. Reduced number of records in position.csv log file.

  3. Improved correction of RTK coordinates.

  4. Reduced CPU load for MagNIMBUS and SENSYS MagDrone R1 drivers.

UgCS-CPM and Skyhub firmware v.4.0.3#

Note

Supports only DJI M350 RTK

Whats New in 4.0.3#

  1. Support missions without AGL waypoints.

  2. Check altimeter range at all flight stages.

  3. DJI M350 RTK drones support.

  4. True Terrain Following (TTF) route planning in UgCS, including waypoint altitudes using “rangefinder” altitude type.

  5. Support of routes with a mix of AGL, AMSL and “rangefinder” altitudes.

  6. MagNIMBUS (QuSpin QTFM Gen-2) magnetometer vector add-on support.

  7. Sensys MagDrone R1 magnetometer support.

  8. Geolux LX-80 water level sensor support.

  9. Geolux RSS-2-300 surface velocity radar support.

Improvements in 4.0.3#

  1. Reject mission with negative rangefinder altitude values.

  2. Fixed OA activation speed threshold.

  3. Improved Magnimbus performance in multi-instance configuration.

  4. Reduced time lag for the recorded data.

  5. Correct zero point for the GPR SEG-Y log files.

  6. Add the next waypoint index column into the position.csv and MagNIMBUS logs.

  7. Wind sensor FTT372 does not use an embedded compass any more.

UgCS-CPM and Skyhub firmware v.4.0.0#

Note

Supports only DJI M350 RTK

Whats New in 4.0.0#

  1. DJI M350 RTK drones support.

  2. True Terrain Following (TTF) route planning in UgCS, including waypoint altitudes using “rangefinder” altitude type.

  3. Support of routes with a mix of AGL, AMSL and “rangefinder” altitudes.

  4. MagNIMBUS (QuSpin QTFM Gen-2) magnetometer vector add-on support.

  5. Sensys MagDrone R1 magnetometer support.

  6. Geolux LX-80 water level sensor support.

  7. Geolux RSS-2-300 surface velocity radar support.

Improvements in 4.0.0#

  1. Reduced time lag for the recorded data.

  2. Correct zero point for the GPR SEG-Y log files.

  3. Add the next waypoint index column into the position.csv and MagNIMBUS logs.

  4. Wind sensor FTT372 does not use an embedded compass any more.

Dropped support in 4.0.0#

  1. Geonics EM38-MK2 metal detector.

  2. Geonics EM-61conductivity meter.

  3. Attollo Wasp laser altimeter.

  4. Lightware SF11/C laser altimeter.

  5. Radarteam Cobra Plug-In GPR.

UgCS-CPM and Skyhub firmware v.3.19#

Whats New in 3.19#

  1. Support for multiple scalar widgets was added.

  2. Support for QuSpin Gen-2 magnetometer added.

  3. Possible to install CPM into an existing directory.

Fixed in 3.19#

  1. Fixed saving of TTF configuration.

  2. Fixed Skyhub logs download.

Dropped support in 3.19#

  1. Removed support for SkyHub v2.

UgCS-CPM and Skyhub firmware v.3.18#

Whats New in 3.18#

  1. New SkyHub ROS-based SDK for third-party modules development.

  2. Improved Lightware SF-30/D altimeter support: reduced time lag, filtering support.

  3. Added support for Ainteins US-D1 altimeter.

  4. Automatically select altitude source depending on the aircraft simulation state for TTF and GH modes.

  5. The pulse delay value for Radsys Zond Aero LF GPR determined with Prism software can be used in SkyHub configuration as is.

  6. Echo sounders parameters are aligned with the vendor’s manual: FREQUENCY_HZ becomes INTERVAL_S. Values must be changed from Hz to seconds.