Hello,
I am planning to build a bathymetry vehicle, now in a Multirotor platform.
…I built a boat carrying the Echologger echosounder. The idea now is carrying the sonar in a multicopter inspired by the following commercial drone:
Thinking about the current setup options in ardupilot, I have some doubts that can resume in two big issues:
• Actually, only the Rover configuration allows to logger of the depth data, from sonar, in the variable DEPHT. I am not sure about that, but I haven’t found any reference to this feature in another version (taking into account that is necessary the FRAME_CLASS parameter should be set to “2” (Boat) in order to support sonar devices).
• In order to maintain a precise altitude over the water surface is necessary to use a rangefinder. But, despite of each can use a different serial port, both, sonar and lidar, have to use the serial “protocol” 9 (lidar), and RNGFNDX_ORIENT as 25. I don’t know if both can works in parallel without issue. Thinking that both show their value in the variable SONARRANGE, perhaps there exists some kind of issue to resolve.
I don’t know if it is within what is technically feasible, but it will spread the possibilities of thinking to hard-to-reach areas. I hope someone can help is this project.
