I'm going to adapt ArduRover with APM 2.5 to an electric boat for echosounder survey.
The boat is a surge crusher xxl with one brushless motor, an ESC, a separate BEC and a steering servo.
telemetry will be done by Xbee PRO
I hope that the control of the Ardurover could be easily adapted to a boat as the control method is basically the same. Probably the PID setup will be different.
What I need to know is how to connect the ecosounder to a spare UART port of the APM2.5 and how to add the depth data to the telemetry system. I have the code to parse the NMEA0183 string coming from the echo but I'm not expert in mavlink protocol. Could be ok if the depth data comes instead of some not used data like altitude or air speed.
Any help will be appreciated
Flavio from Italy