Sonar Performance Degradation

[jgoppert]

Master 91e6

Ae201 (before mode filter etc.)

I believe that the complexities introduced by the on-board filtering are unwarranted for the performance gain. It also is causing a loss of information as the 0 return code is mapping both out of range close and out of range far to the same value. As a possible solution, I created a branch that adds an error status to the i2c frame (nominal, unint, low, high): jgoppert@9863563 This would also require the same change on the FMU side and some modification to position_estimator_inav.

[LorenzMeier]

The suggestion makes sense.

[LorenzMeier]

Hi James, how is this PR looking? Any chance to take another stab getting this into master? The issue I'm having is that the flow driver will probably silently fail - we need to introduce a version tag and escalate the issue to the GCS. Or we need to map near and far to e.g. -1 and -2 and keep the frame format intact.