MultiWii

Yes i got the Same issue like you. HC-SR04 isn't able to detect distance between 0-2 cm. So i made a small change in The Code, and i will test it at weekend. The Change did something like they trying to do here // limit sonar altitude /*if (sonarAlt > SONAR_MAX_HOLD) { sonarAlt = SONAR_MAX_HOLD; }*/...

Hi wetzel, Glad this code works for you. Have you tested ALT Hold above sonar range? Did you solve the Problem with the Full Throttle issue up to 4xx cm? There is might be a logical issue in the Code. I can't see anything that is preventing from the situation, that Sonar Value is 0 an the Copter is...

Have you tested ALT Hold above sonar range?

Hey ItsOnlyMe,

no i haven't tested it.
But i will and post the result
Above 400cm the Code uses only the Baro,i think it should work.

I've modify in the config.h #define SONAR_GENERIC_TRIGGER_PIN 9 // motor 12 #define SONAR_GENERIC_ECHO_PIN 10 // motor 11 and in the def.h i edit this entry #define SONAR_GEP_TriggerPin_PIN_HIGH PORTH |= 1<<6; // WAS: PORTB |= 1<<6; #define SONAR_GEP_TriggerPin_PIN_LOW PORTH &= ~(1<<6); // WAS:...