# Surveyor + MAVLink2Rest Position/Heading

These instructions set up using the Surveyor with position and heading from a mavlink2rest vehicle (e.g. Blueboat, BlueROV). 

Step 0: Go to Session Configurations in SonarView

Step 1. Click 'Add Device' and add your Surveyor with correct IP address and mounting/roll offsets and hit 'Save':

<figure><img src="/files/X7t3DQff9EgAHsc2Uz5F" alt="" width="251"><figcaption></figcaption></figure>

Surveyor Specific Options:

1. Mounting Angle:

   Roll: Sets the roll of the Surveyor relative to the vehicle. Since the Surveyor has an IMU to calculate the roll of the device, this just affects how the boat is displayed, not where the data ends up

   Pitch and yaw offsets must be 0
2. Mounting Offset (relative to center of Mavlink Vehicle):

   X: Positive if Surveyor is in front of the center of the vehicle

   Y: Positive if the Surveyor is starboard of the center of the vehicle

   Z: Positive if the Surveyor is below the center of the vehicle&#x20;

Click [here](/c/surveyor-240-16/coordinate-frame.md) for Surveyor coordinate frame definition

{% hint style="info" %}
Surveyor Specifc Options overwrite any offsets set up during a single device session
{% endhint %}

Step 2: Click 'Add Vehicle' and add your mavlink vehicle with correct IP address, the 'mavlink2rest' protocol, and the correct System ID. Hit Save:

<figure><img src="/files/7t4cr643CNZGUZEfltOw" alt=""><figcaption></figcaption></figure>

Step 3: Click 'Add Session', add the Surveyor and Vehicle to the session, and hit 'Save'. Your Session Configurations page should now have something like this:<br>

<figure><img src="/files/28H9fsWdbIXiCOPtvfLX" alt=""><figcaption></figcaption></figure>

With that completed and your Surveyor and vehicle connected to SonarLink, you can now find this session in discovery and connect to it.


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