Question about specific DEPTH log

ArduRover ArduBoat
1

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

2

Hello,
I would like to know how to apply to developers in order to evolve the DEPTH log to echosounder them. It would be interesting in addition to the Long and Lat to have the ellipsoidal height of the vehicle.

Best regards

Ludo41