5.After rebooting the flight controller, reconnect to Mission Planner and go to "status" tag. Change the altitude of the aircraft to see whether "sonarrange" is changing correspondingly. If the value does not change, please check if the parameters are properly set or reboot the flight controller. Change the position of the aircraft and see whether the data of "opt_m_x", "opt_m_y", "opt_x", "opt_y" are changing. If the value do not change, please check if the parameters are properly set or reboot the flight controller.