UGCS EchoSounder Bathymetry

What software and other setup is necessary to fly with the UGCS Echo Sounder?

You will need to download two pieces of software - UGCS and UGCS custom payload monitor (CPM), which you can find at these links: UgCS | Downloads Support & Downloads. Be sure to download the latest versions available. When installing the UgCS software, you will be prompted with different types of drones in which you want your installed UgCS to support. Select “ArduPilot.”
- Additionally, though not explicitly required, it is recommended to download Notepad++ for the process involved in the next step. You can download that here, choosing the latest option: https://notepad-plus-plus.org/downloads/
- You MUST open notepad as administrator and then open the .conf file. Do not navigate to the file, click the .conf file to open. To do so, go to the taskbar in Windows, and type “notepad” at the magnifying glass, the icon for notepad will appear, hover over the notepad icon, right click and select “Run as Administrator.”
Next, from within notepad, ran as administrator, navigate to This PC → Windows (C:) → Program Files (x86) → UgCS → bin
- Once there, locate the file named vsm-ardupilot.conf. This file contains lines that need to be edited in order for the UGCS software, drone, and SkyHub to communicate with the UGCS Payload Monitor.
- The image below shows which lines need to be edited in both blue text as well as red dashes beside the line number, and how the file should look when you’ve made your changes.
- You can also find a video of the steps being performed here: 5 VSM Ardupilot configuration. Be sure to remove the # symbols for the changes to take effect.
- When you’re finished, be sure to click the save icon in the top left of the screen. You may now close the file.

vsm-ardupilot.conf file with correct line edits

Before opening the UGCS software, verify your controller’s hotspot tethering is enabled, you are connected to it on the PC that that will be running UGCS, the drone is powered on, and all cables are plugged in properly.
- If you do not know how to enable and connect to the hotspot, you can find instructions on how to do so by following this link and scrolling down briefly: Operations | RTK

What should my line spacing be when planning a Bathymetry Mission?

For planning bathymetry surveys line spacing needs to be 4x the estimated depth of the pond or lake you are surveying.

Which speed should I fly with the UGSC Echo Sounder?

Maximum speed should be 0.8. - 0.9 m/s. To collect high-quality data 0.7 - 0.8 m/s

Mission and manual flight speeds should be set to 0.8 m/s automatically when selecting the EchoSounder payload. Remember that when the EchoSounder is no longer selected, the flight speeds will remain the same, so it will be necessary to adjust them before takeoff when using a different payload.

How do I maximize data precision with the UGCS Echo Sounder?

Echo Sounder should be fully submerged. You have too many spikes and gaps in the data. But I should tell you that the depth match on check lines is just perfect. That means that your approach with slightly submerged echosounder in case of calm water may allow to increase the speed of survey. Maybe you may experiment with just a slightly deeper echo sounder.

Should I use a single or double grid mission type?

It's almost useless to make a double-grid with an echo sounder unless you are trying to find some object on the bottom

Non-RTK Post-processing.

Data should be processed for the depth, not for elevation.

How do I import NMEA0183 into Hydromagic?

When you import NMEA0183 into Hydromagic, select SDXDR sentence to import both hi and low frequency data

What rangefinder is used for the EchoSounder?

The Ainsten US-D1 radar altimeter has been introduced as the new rangefinder for the EchoSounder replacing the pre existing rangefinder. This rangefinder should be smooth and have no sudden movement.

When the EchoSounder is selected as the payload, the rangefinder will only be used in Auto mode.

Emergency Evasive Maneuver

In the event of an emergency, such as sudden battery depletion, the Ranger Pro will attempt to land. In cases such as this, it is advised to react quickly by hitting the Return To Launch (“Home” button) on your Herelink controller. This will command your Ranger Pro to increase altitude and head towards your launch point. If possible, once altitude has increased, proceed by initiating Loiter Mode (A button). From here, you should manually fly the Ranger Pro to the nearest point of dry land.