# 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://app.gitbook.com/o/ObqHkwNyPYYuN5SMJXLW/s/ldEroQctKFErSiZvuhJk/)
{% endhint %}

1. Add the Omniscan to the Devices list:

<figure><img src="https://2515205857-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FSYkdyxXfSDQsVcrx8VV1%2Fuploads%2Fcp7TrDlIDkyNmC2aoLVu%2FScreenshot%202024-11-04%20113038.png?alt=media&#x26;token=d0390061-bfc6-43e4-a094-8c1db79f1b8d" alt="" width="309"><figcaption></figcaption></figure>

2. Add the BlueROV2 to the vehicles list:

<figure><img src="https://2515205857-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FSYkdyxXfSDQsVcrx8VV1%2Fuploads%2FvuZWyB3ImjiR9n303zQI%2FScreenshot%202024-11-04%20113038.png?alt=media&#x26;token=283d6d2c-779a-4148-8566-f07b44ee578f" 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="https://2515205857-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FSYkdyxXfSDQsVcrx8VV1%2Fuploads%2FUXfhlxASdV0l4AVuJ5ry%2FScreenshot%202024-11-04%20113038.png?alt=media&#x26;token=5b672f94-6f3e-4247-ad7e-3b8c7034aad3" alt="" width="308"><figcaption></figcaption></figure>

<figure><img src="https://2515205857-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FSYkdyxXfSDQsVcrx8VV1%2Fuploads%2FPi1W49OnnpONVR6h63g9%2FScreenshot%202024-11-04%20113038.png?alt=media&#x26;token=a8d115a9-7bde-496f-a7de-16230d89a101" alt=""><figcaption></figcaption></figure>

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