Servers by jDrones

Question about specific DEPTH log

Hello,
I would like to log depth with position and ellipsoidal height from GPS (RTK mode), this is possible simply or it imposes to develop a python script or something?

And how to log depth only when sonar transmit information? I look that https://github.com/ArduPilot/ardupilot/pull/9291 but I don’t understand, I’m not software developer.

Best regards
Ludo41

Servers by jDrones