Add L04xMTW GL04xMT sonars

common/source/docs/common-sonar-L04xMTW-GL04xMT.rst

@@ -0,0 +1,42 @@
+.. _common-sonar-L04xMTW-GL04xMT:
+
+=======================
+Sonar L04xMTW / GL04xMT  
+=======================
+
+The L04xMTW / GL04xMT is an echosounders (aka underwater sonar) with a 2 / 6 m range. More details can be found in the `datasheet <https://github.com/AlksSAV/Sonar-to-i2c-NMEA-/blob/main/L04xMTW%20%20GL04xMT%20datasheet.pdf>`__ 
+
+
+Supported sonar models:
+
+- L041MTW, GL041MT (min 5cm range, max 6m range)
+- L042MTW, GL042MT (min 2cm range, max 2m range)
+
+Recommended Hardware
+--------------------
+
+- L04xMTW / GL04xMT
+- Arduino nano
+
+The firmware file (sonar_to_nmea__SDDBT.ino) is located in this `repository <https://github.com/AlksSAV/Sonar-to-i2c-NMEA-/blob/main/sonar_to_nmea__SDDBT.ino>`__ 
+
+Connecting and Configuring
+--------------------------
+.. image:: ../../../images/GL04xMT.png
+
+The L04xMTW / GL04xMT sensors provide distance measurement.  Using Arduino nano sensor data is converted to NMEA 0183 stream. The data is transmitted to the autopilot via the serial port.
+
+The sensor can be connected to any available serial/uart port on the autopilot.  In the diagram below the first sensor is connected to SERIAL2.
+
+
+If the SERIAL2 is used then the following parameters should be set:
+
+-  :ref:`SERIAL2_PROTOCOL <SERIAL2_PROTOCOL>` = 9 (Lidar)
+-  :ref:`SERIAL2_BAUD <SERIAL2_BAUD>` = 115 (115200 baud)
+
+Then the following range finder related parameters should be set:
+
+-  :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 17 (NMEA)
+-  :ref:`RNGFND1_MIN_CM <RNGFND1_MIN_CM>` = 5
+-  :ref:`RNGFND1_MAX_CM <RNGFND1_MAX_CM>` = 600 (i.e. 6m).  *This is the distance in centimeters that the rangefinder can reliably read.*
+-  :ref:`RNGFND1_ORIENT <RNGFND1_ORIENT>` = 25 (i.e. down) if mounted on a boat

common/source/docs/common-underwater-sonars-landingpage.rst

@@ -17,6 +17,7 @@ Follow the links below (or in the sidebar) for configuration information based u
     Lowrance Elite Ti2 Sonar <common-lowrance-elite-ti2-sonar>
     Underwater Sonar (Analog) <common-underwater-sonar-analog>
     Triducer <common-underwater-triducer>
+    Simple sonar <common-sonar-L04xMTW-GL04xMT.rst>
 
 [site wiki="rover"]
 Bathymetry Tools
@@ -27,4 +28,4 @@ Bathymetry Tools
 
     ReefMaster <reefmaster-for-bathymetry>
 
-[/site]
+[/site]