Any way to just use the positional system of Ardupilot?

I have a project that requires the position and orientation data. It’s basically a rp2040 based datalogger.

Is there any way to use ardupilot in a way that outputs this data to some custom functions that can process and store it?

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If you don’t have any actuator, then basically any ardupilot board becomes a tracking and logging system.
ArduPilot is capable of logging all the internal data (raw and fused sensor data) but if you want to get sensor data from outside and store it externally, this post will be useful.


That’s what I am looking for. Thank you.