# MAVSDK with MPA

Source: https://forum.modalai.com/topic/4492/mavsdk-with-mpa
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2025-06-10 09:52:26 UTC by Jetson Nano
Replies: 1 · Views: 447

## Jetson Nano · 2025-06-10 09:52:26 UTC

Hey @Alex-Kushleyev @Vinny @Eric-Katzfey @tom 

I want to use TOF data with MAVSDK to follow a path with collision prevention. how to achieve it, i am able to see that mpa data is available inside the docker, I would like to have a guidance how to access the data and incorporate it inside mavsdk

## Reply by Zachary Lowell 0 · 2025-06-10 19:41:08 UTC

@Jetson-Nano you could just use the CPP mavsdk instance to grab the TOF data from a MPA pipe and then leverage that to do your controls via mavsdk (I am assuming just offboard movement). You can connect over port 14551 just ensure you have localhost comms set to true in voxl-vision-hub.