SONAR_POS: Sonar position

Description

This parameter (SITL only) defines the physical location of the simulated sonar sensor relative to the vehicle's center of gravity (CG).

Values

• Range: -5 to 5
• Units: Meters (m)
• Default: 0.0, 0.0, 0.0

Description

SONAR_POS allows for realistic simulation of rangefinder offsets.

• Function: If the sonar is mounted 20cm forward of the CG, you would set the X component to 0.2.
• Effect: The simulation will calculate the distance to the ground from that specific point rather than the center of the aircraft, which is important for accurate landing and terrain-following behavior when the drone is pitched or rolled.
• Components: This is a Vector3f parameter (X, Y, Z).