IR Sensor Sonar function has been broken in the ArduRover v2.30 code since the move to HAL

[TC3]

Since the move to the HAL version of the ardupilot code the IR sensor sonar function is no longer functioning and constantly returns a value of 715 no matter what distance an object is from the sensor. I suspect that the problem may be in these two snippets of code:

ModeFilterInt16_Size5 sonar_mode_filter(2);

if CONFIG_SONAR == ENABLED

AP_HAL::AnalogSource *sonar_analog_source;
AP_RangeFinder_MaxsonarXL *sonar;

endif

if CONFIG_SONAR == ENABLED

if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC

sonar_analog_source = new AP_ADC_AnalogSource(
    &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);

elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN

sonar_analog_source = hal.analogin->channel(
    CONFIG_SONAR_SOURCE_ANALOG_PIN);

else

warning "Invalid CONFIG_SONAR_SOURCE"

endif

sonar = new AP_RangeFinder_MaxsonarXL(sonar_analog_source,
                                      &sonar_mode_filter);

endif

[rmackay9]

The sonar is working again in ardurover I hear.