Hi @Charles,
We haven’t used that option with ArduSub very much, and it’s not something we officially support, but it should work at least in theory. Note that the interfacing cable provided with the sonar has a JST-GH connector, whereas the Pixhawk uses DF13 connectors, so you’ll need your own cable.
Once it’s physically connected you’ll need to set the ArduSub parameters as relevant, making sure to restart after you’ve set SERIAL2_PROTOCOL = 9 (Rangefinder) and RNGFND1_TYPE = 23 (BlueRoboticsPing) in order to access the other rangefinder parameters.
Once everything is set up I believe it should show up in QGC’s telemetry widget via the ApmSubInfo / RangefinderDistance option, but it’s possible it shows up via DistanceSensor / RotationPitch270.
In case it’s relevant, the latest master update of BlueOS now has Ping1D MAVLink support, which can be accessed via the new “Pings” page:
The waterfall data is still accessible in Ping Viewer even if the
MAVLink Distances toggle is turned on 