Goodday everyone, was wondering if anyone could help me with the requirements for connecting the Tritech Micron to the Blue ROV2, have one here sitting down and would like to have it mounted and operational.
Hi @MathieuPollonais, welcome to the forum 
I’m not familiar with the Tritech Micron, but from the datasheet it seems to support either RS-232 or RS-485 serial communication. You’ll likely need RS-485 configured.
If you’ve got a spare pair in your tether you may be able to use RS-485 to send the signal directly to the topside, and then connect to it “as normal” (per the manufacturers specification/usage instructions) from the topside computer.
Alternatively you might be able to use a USB-Serial converter (like our BLUART) in the enclosure to connect the sonar to the onboard computer, and then set up a routing connection to the topside. You’d need to check that the software that runs on the topside computer is able to connect with UDP instead, or you may need another routing software on the surface that converts from UDP back to more standard serial.
I noticed you put this in the “Blue Robotics Software / Ping Viewer” category, which I’ve moved it out of. While Ping Viewer is open source and could be extended to support additional sonar protocols, or a sonar could add support for our ping-protocol (or have its messages translated into it), those haven’t been done for the Tritech Micron. There’s a bit more discussion on that here
Thanks a lot Eliot, will let you know how everything goes. And thank you for the warm welcome.
Hi @MathieuPollonais,
Did you ever integrate the Micron Sonar?
Hi Eliot, hope you’re well.
I am attempting to connect a Tritech Micron sonar to Navigator so we can access it via ethernet through the tether. If we decide to go the USB route, would any RS232-USB converter work?
Hi @kurty!
I am, thanks - hope you are too 
The Navigator flight controller board doesn’t have ports that could connect to this, and the ArduPilot firmware doesn’t have a driver for communicating with it (and you likely wouldn’t want your autopilot communicating with the sonar directly). You can likely connect it to the onboard Raspberry Pi though, and use the Serial Bridges functionality built into BlueOS to make it available over the network. Note that the caveat I mentioned previously does still apply:
From the product manual it seems the communication ports can be configured as either RS232 or RS485, so you’d need to make sure your adapter can handle whichever one it’s configured to (the one you’ve linked can seemingly be switched between them).
While I think that most adapters should work, the manual does specify some requirements to ensure safe and robust operation: