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Hi all,

I have a question regarding IR Sensors on the ArduCopter. I have uploaded the ArduCopter NG and included the Rangefinder libraries for Altitude hold and Obstacle Avoidance. Sonar for Altitude hold works fantastic, however im not too sure if the IR sesors are giving input to the APM. The IR sensors themselves are working as i have tested them wih the test code, only when flying doesn't seem to move in the correct direction when it detects something or not sure if its moving at all.

I tried to look at this:

  http://diydrones.com/profiles/blogs/arduimu-quadcopter-part-iii?id=705844%3ABlogPost%3A161346&page=10#comments

and implement its but the code is totally different. The 4 Ir sensors on my Quad are connected to Analog inputs 2-5 and the Grnd and +5v are tapped onto the apm's Grnd & +5v.

Any help would be great!

Thanks