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The topic of sonar modules and Multiwii and all its derivatives go for years. In theory, you can connect it to INAV, Cleanflight, and Betaflight (?) on some flight controller boards and then not really use them since terrain following mode is not really working. It's not really working in the most navigationally advanced INAV.
I've been asked to cover this topic multiple times. So, welcome to part one: how to connect HC-SR04 sonar rangefinder to INAV and any flight controller? The answer is simple: don't. HC-SR04 sonar is absolutely not suited to work on a drone! It picks noise instead of ground echo and above a certain altitude (low altitude by the way) reports rubbish! From time to time it kind of work over concrete but immediately loose measurement capabilities over grass.
So yes, it was a click bait. I did not show how to connect HC-SR04 to any flight controller since it makes no sense at all. HC-SR04 should be avoided at all cost.
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