Fusing ping protocol with Emlid M2 Gnss data?

Another boat with a Ping sonar. From the dataflash, can you output depth and rtk corrected gnss coordinates? I usually just use the dataflash to see why my copter is flying funny or geotag images lol! I know Ping uses their own com protocol so I didn’t know if it would work. Basically want to bring in the points to Global mapper, adjust for the elevation of the gnss antenna to the sonar and create a surface.

Hi @X1Aero,

The DPTH messages holds the rangefinder distance and the lat,lon,alt of the vehicle. Maybe this is what you need? The lat, lon, alt will be from the EKF but this should be at least as accurate as the GPS being used.

I cant talk to the RTK GPS, but we’ve been using the Ping 1d Sonar with an M8N (it all just worked., thanks Randy and team). The Logs contain the following eg 10.37m depth
RFND, 602030711, 0, 10.37, 3, 0
GPS, 602031157, 0, 4, 255712800, 2180, 21, 0.6, -37.1426918, 174.690017, 9.04, 1.615, 61.70356, -0.117, 0, 1
I have little confidence in the Altitude from the GPS, but the depth from the sonar is very consistent.

ps - i’d love to pull out the full ping-protocol info (eg watercolumn) not just the depth - but thats for another day.