MAVLink message to get sonar altitude

Hi everybody, I am Luis from Spain, I am building my own GCS and I would like to know which is the MAVLink stream I have to request to get the sonar altitude, or in case it is not given as a stream, I would like to know which message do I have to send to receive the sonar altitude.


I guess that sonar altitude should be given to my GCS in the message MAVLINK_MSG_ID_GLOBAL_POSITION_INT, for which I have to send a MAV_DATA_STREAM_POSITION stream request, but after doing this (i.e. requesting that stream) I still do not receive in my GCS the MAVLINK_MSG_ID_GLOBAL_POSITION_INT message.


I am using Arducopter v2.6 (MAVLink 1.0).


Thank you,

Luis.

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Replies

  • Look at https://pixhawk.ethz.ch/mavlink/ and search for rangefinder?

  • After some research & testing I have found the answer:


    1) Request (send to Arducopter) the stream MAV_DATA_STREAM_RAW_SENSORS.

    2) Read (from Arducopter) the message MAVLINK_MSG_ID_VFR_HUD.

    3) Use the MAVLink function mavlink_msg_vfr_hud_get_alt() to get the float altitude in meters.

    Greetings,

    Luis.

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