This is my latest low-cost mapping boat using the OpenPilot CubeOrange autopilot hardware running the ArduPilot "rover" firmware (cars and boats use the same basic firmware). More details of the frame can be found on this page.

You'll see right near the end of the video some 3D graphs created using ReefMaster.

As one of the lead developers of ArduPilot I've also created this wiki page which shows how to important sonar data from ArduPilot to ReefMaster.

All feedback and comments are very welcome.

Hi! Great Job!

Do you use IMU data for depths correction or IMU is used for autopilot's functioning only?

Hi Anton,

Thanks!

The short answer is "yes" the IMU is used for calculation of the position (lat, lon, alt) as well as controlling the autopilot. More specifically ArduPilot has an EKF that combines the IMU (accelerometers+gyro), GPS, barometer and compass to calculate a new position estimate at 50hz (or higher) and this estimate is used both for control but it also appears in the DPTH onboard log message that can be later uploaded to ReefMaster.