diydrones/ardupilot — pull request #1084 by Supergoldfish (2014-05-20 04:53:44+00:00)
Title: Copter: Analog sonar updates - changes  - Support for pixhawk

Re-Submitting in case this is of any help to anyone.
*I've only tested on Pixhawk, I don't know if it will work on APMx. (Don't have one).

*If there is something I should or shouldn't have done, please let me know. I will try to modify.