# 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


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://docs.ceruleansonar.com/c/sonarview/session-configurations/omniscan-+-mavlink2rest-position.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.