diff --git a/baseflight.uvproj b/baseflight.uvproj
index 0f216c791..d9fe2836e 100755
--- a/baseflight.uvproj
+++ b/baseflight.uvproj
@@ -604,6 +604,11 @@
               <FileType>1</FileType>
               <FilePath>.\src\drv_mma845x.c</FilePath>
             </File>
+            <File>
+              <FileName>drv_hcsr04.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\src\drv_hcsr04.c</FilePath>
+            </File>
           </Files>
         </Group>
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@@ -1369,6 +1374,11 @@
               <FileType>1</FileType>
               <FilePath>.\src\drv_mma845x.c</FilePath>
             </File>
+            <File>
+              <FileName>drv_hcsr04.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\src\drv_hcsr04.c</FilePath>
+            </File>
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@@ -2314,6 +2324,11 @@
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               <FilePath>.\src\drv_mma845x.c</FilePath>
             </File>
+            <File>
+              <FileName>drv_hcsr04.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\src\drv_hcsr04.c</FilePath>
+            </File>
           </Files>
         </Group>
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diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index 27b5783b7..2941f14da 100644
--- a/obj/baseflight.hex
+++ b/obj/baseflight.hex
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 :106BB0000988490009B201806A494988490009B237
 :106BC000418068498988490009B2818070477047CF
 :106BD00070476449C98809B201806249098909B2CC
@@ -1749,8 +1749,8 @@
 :106D300000F059FB012113484C3800F028FB0121D9
 :106D400010484C3800F019FB02210E484C38FFF770
 :106D50005EFF01210B484C3800F03BFB11B000BD39
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 :106D900000256BE0FB4800EBC50103C9CDE900010C
 :106DA000F94800EBC5040098B0425DD1BDF806106B
@@ -1815,13 +1815,13 @@
 :10715000194800F0B5FD0821174800F0B8FD0821D6
 :10716000154800F0BAFD0121134800F086FD012109
 :10717000114800F08CFD08210F4800F09BFD002015
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 :1071B000000C014040420F0000080040084A1278CD
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 :1071D000054800EBC100C08870470148007870473F
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 :1071F000016841F0010101604168304A114041607D
 :1072000001682F4A11400160016821F4802101606A
 :10721000416821F4FE0141604FF41F01816000F0DC
@@ -1921,7 +1921,7 @@
 :1077F00000E08143D1617047074A0029116901D037
 :10780000014300E08143116170470348416A41F040
 :1078100080714162704700000010024000127A003F
-:107820008003002000093D0030B50288F84BF94C78
+:107820008403002000093D0030B50288F84BF94C74
 :1078300098420DD0A0420BD0B0F1804F08D0F64D49
 :10784000A84205D0F54DA84202D0F54DA84203D17B
 :1078500022F070054A882A43F24DA84206D0F24D24
@@ -2254,7 +2254,7 @@
 :108CC00008BF052070474100080218BF04200A0EA3
 :108CD00018BF40F001004FF07F4232EA010108BFA7
 :108CE00040F00200012808BF052070470048704787
-:108CF000900300202DE9F74F144696B00021C4E9F7
+:108CF000940300202DE9F74F144696B00021C4E9F3
 :108D000002111799099121F00047C9498F4206DCE9
 :108D10001799C4E9000119B00020BDE8F08FC549DA
 :108D2000C54EB94241DD0999DFF81083DFF810A381
@@ -2377,7 +2377,7 @@
 :10947000220E0000DB0FC92F22AAFD290000C92FF0
 :1094800002E008C8121F08C1002AFAD170477047CD
 :10949000002001E001C1121F002AFBD1704700002B
-:1094A0000149086070470000900300202DE9F04753
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 :1094B0004FF0684202EB400305460C46B3F1654F9E
 :1094C0003CBF02EB4102B2F1654F3FD34FF07F4208
 :1094D000B2EB400F28BFB2EB410F03D2BDE8F0471B
@@ -2485,87 +2485,87 @@
 :109B300090A4000887A60008BD0100087EA60008C2
 :109B4000C7A60008DD06000877A600086BA6000877
 :109B5000EB070008A8A500085AA70008E5080008B8
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+:109B700020000000C0A30008000000002604002010
 :109B800000000000640000005DA300080200000067
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+:109BC000D0070000CCA300080200000038040020E9
 :109BD00000000000D0070000EAA400080200000016
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 :109C200000000000C800000048A700080000000075
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+:109FB00000000000D503002000000000C8000000E1
+:109FC00036A5000800000000C003002000000000CB
+:109FD000C80000002FA5000800000000CA030020F0
 :109FE00000000000C800000028A5000800000000D4
-:109FF000D003002000000000C8000000F0A6000808
-:10A0000000000000BE03002000000000C8000000A7
-:10A01000EAA6000800000000C803002000000000BD
-:10A02000C8000000E4A6000800000000D2030020E1
+:109FF000D403002000000000C8000000F0A6000804
+:10A0000000000000C203002000000000C8000000A3
+:10A01000EAA6000800000000CC03002000000000B9
+:10A02000C8000000E4A6000800000000D6030020DD
 :10A0300000000000C800000020A50008000000008B
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-:10A0500000000000CD03002000000000C800000048
-:10A0600010A5000800000000D70300200000000039
+:10A04000C703002000000000C800000018A5000899
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+:10A0600010A5000800000000DB0300200000000035
 :10A07000C800000041455254313233340000000022
 :10A080000010014000101000000801400080100086
 :10A090004C5555555555A53F7751C1166CC156BF06
@@ -2677,21 +2677,22 @@
 :10A730005F7961775F6D6178006661696C736166EE
 :10A74000655F64656C6179006661696C73616665FB
 :10A750005F6F66665F64656C617900007CA70008C6
-:10A760000000002094030000428C000860A800084C
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-:10A800002230899A029203899D01F222403A02087D
-:10A8100012043A040812083A0808120C22105A04CA
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+:10A80000092230899A029203899D01F222403A027C
+:10A810000812043A040812083A0808120C22105AC6
+:10A82000042019083920190839201908292013345F
+:10A83000081B4038041A3C0419191B4034181A38F4
+:10A84000041A3C041931193CB13BA24A6141380C4D
+:10A8500001020304060708090204066D29106914A1
+:04A8600041000000B3
 :04000005080000ED02
 :00000001FF
diff --git a/src/board.h b/src/board.h
index 9d532b33f..a16a5145c 100755
--- a/src/board.h
+++ b/src/board.h
@@ -93,7 +93,7 @@ typedef struct sensor_t
 #define MAG
 #define BARO
 #define LEDRING
-// #define SONAR
+#define SONAR
 
 #endif
 
diff --git a/src/drv_pwm.c b/src/drv_pwm.c
index ab59a294b..4958505cb 100755
--- a/src/drv_pwm.c
+++ b/src/drv_pwm.c
@@ -85,7 +85,7 @@ static void ppmIRQHandler(TIM_TypeDef *tim)
         diff = ((0xFFFF - last) + now);
     }
 
-    if (diff > 4000) {
+    if (diff > 2700) { // Per http://www.rcgroups.com/forums/showpost.php?p=21996147&postcount=3960 "So, if you use 2.5ms or higher as being the reset for the PPM stream start, you will be fine. I use 2.7ms just to be safe."
         chan = 0;
     } else {
         if (diff > 750 && diff < 2250 && chan < 8) {   // 750 to 2250 ms is our 'valid' channel range