SITL Gazebo - how to get pose of sonar relative to drone in sonar plugin?

Hey, I want to get pose of sonar relative to drone;
Currently It’s getting the pose from this file:

and I need to get sonar pose to distinguish multiple sensors in MAVLINK messages…

OK, I figured out that pose is published in OnNewScans() function in:

but problem is how orientation field is set in DISTANCE_SENSOR message
Zrzut ekranu z 2020-08-19 18-07-20

@TSC21 excuse me, could you explain me how Quaternions are translated to orientation field?