> For the complete documentation index, see [llms.txt](https://docs.ceruleansonar.com/c/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.ceruleansonar.com/c/sonarview/session-configurations/omniscan-+-mavlink2rest-position.md).

# Omniscan + MAVLink2Rest Position

These instructions describe how to use the heading and position estimate from a MAVLink2Rest enabled vehicle in SonarView. A useful example is the Omniscan with a BlueROV to get a better heading and/or position estimate for situational awareness. 

{% hint style="info" %}
To get a position estimate, the ROV will need a sensor to estimate position such as the [Tracker 650](https://docs.ceruleansonar.com/c/tracker-650/)
{% endhint %}

1. Add the Omniscan to the Devices list:

<figure><img src="/files/eOdxxI7pNArhNAYrnO55" alt="" width="309"><figcaption></figcaption></figure>

2. Add the BlueROV2 to the vehicles list:

<figure><img src="/files/54DD5ojPJmTXoF4JaSo8" alt="" width="307"><figcaption></figcaption></figure>

{% hint style="info" %}
The vehicle model is just aesthetic. The necessary fields are the nickname, protocol (only mavlink2rest is support atm), hostname and port
{% endhint %}

{% hint style="info" %}
Selecting a vehicle as the default makes it used in every other session that doesn't have a vehicle specifically defined
{% endhint %}

3. Add session with Omniscan and vehicle

<figure><img src="/files/pG8AQziXur1yFxmMHKjH" alt="" width="308"><figcaption></figcaption></figure>

<figure><img src="/files/T773CBbaLfCmQQdgShYh" alt=""><figcaption></figcaption></figure>

With your Omniscan powered on the network, you should be able to connect to this session plan in Discovery