BACK TO WORK ON THE PROJECT

Since I was planning to use multiple ultrasonic sensors (6 in total to cover all 4 cardinal directions relative to the multicopter, as well as up and down), I changed the board I was using from an Arduino Uno, to an Arduino Mega 2560, which has more ports to be able to read multiple sensors. The wiring at the moment is quite messy, so I will have to clear up the soldering and pin the wires to new ports appropriately.