XL-Maxbotic-EZ line of analog sonars (XL-MaxSonar-EZ0, EZ4 and EZL0) are relatively inexpensive, short range (7m to 10m) range finder primarily designed for indoor use but which has been successfully used outdoors on Copter and Rover.  These are the predecessors to I2C sonar.

The EZ4 (recommended) has the narrowest beam providing the best noise resistance while the EZ0 has the widest beam and higher sensitivity.  The long range EZL0 has the same sensitivity as the EZ0 but a 10m range (as opposed to 7m).

Connecting to the Pixhawk

The sonar should be conneted to the Pixhawk's ADC 3.3V port as shown below. The Pixhawk will provide the regulated 5V power supply the sonar requires.

Connecting to the APM2.x

The sonar should be conneted to the APM's A0 port as shown below. The APM will provide the regulated 5V power supply the sonar requires.

Setup through the mission planner

please first connect with the Mission Planner and then open the Config/Tuning >> Full Parmeter List page and set the following parameters:

• RNGFND_PIN = "14" for Pixhawk's ADC 3.3v pin #2 OR "0" for APM2.x
• RNGFND_MAX_CM = "700" (i.e. 7m max range) if using EZ0 or EZ4, "1000" if using EZL0
• RNGFND_SCALING = "2.04" (i.e. 7m / 5v) if using EZ0 or EZ4, "4.08" (i.e. 10m / 5v) if using EZL0
• RNGFND_TYPE = "1″ (Analog)

Testing the sensor

Distances read by the sensor can be seen in the Mission Planner's Flight Data screen's Status tab. Look closely for "sonarrange".