Magnetometer MagNIMBUS

MagNIMBUS comes in two possible configurations:

Single sensor (beneath the drone) with foldable mount.
Gradiometer.

Danger

During system power-on, the sensor must be physically mounted on the drone. If the sensor is laying sideways on a table during power-on, it might not finish the calibration successfully.

Single sensor assembly

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 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”.

Gradiometer assembly

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 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.

Magnetometer MagNIMBUS Configuration Parameters

Parameter	Default	Min	Max	Precision	Unit	Options	Description
Sensor data rate	4				ms	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.
Magnetic environment	AVERAGE					AVERAGE, QUIET, NOISY	Optimizes sensor for the magnetic environment
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
Data log dir							Specifies the log path to record raw data. If empty, no data is recorded
Accelerometer log	ON					ON, OFF	Enables logging of IMU’s accelerometer data.
Gyroscope data stream	OFF					ON, OFF	Enables streaming of IMU’s gyroscope data.
Magnetometer data stream	OFF					ON, OFF	Enables streaming of IMU’s vector magnetometer data.
Temperature data stream	OFF					ON, OFF	Enables streaming of IMU’s temperature data.
Vector mode	ON					ON, OFF	The sensor reports Total field only (VECTOR_MODE=OFF) or Total field + XYZ components
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
Primary connector	Connector #4 (AMA3)					Connector USB 1, Connector USB 2, Connector #1 (AMA1), Connector #2 (S0), Connector #3 (AMA2), Connector #4 (AMA3)	SkyHub connector for Primary sensor
Secondary connector	<empty>					<empty>, Connector USB 1, Connector USB 2, Connector #1 (AMA1), Connector #2 (S0), Connector #3 (AMA2), Connector #4 (AMA3)	SkyHub connector for Secondary sensor
UART baud rate	230400				bps	115200, 230400	Connection port baud rate, 230400 recommended by manufacturer
Payload Id	192	192	220	1			Payload Id