EchoNIMBUS SSS

Caution

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”.

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