Hi，I developed a boat use the pixhawk for auto control,I had test the sonar(model:I2C-MB1212），It's so bad,sometimes the sigal is off and on,I think maybe the I2C is suffered interfere.

Who can give me a suggestion? what kind of the sonar's sigal is better for the boat? TTL? DC?I2C? which model is the best?

The first picture is my boat,the second picture is a company's boat, I see they use the maxbotix sonar,but I don't know the sonar's model.

Thank you！