How do I use an SR04 Sonar with multiwii boards?

I would like to use an SR04 sonar with my MultiWii SE board, but am not sure how to connect it.

Could someone perhaps help me to connect and use the sonar with my multiwii board?



I am not 100% sure but luiggi has released some firmware that allows you to use the sonar with the Multiwii I2C Nav board so that you can use SR04 Sonar with the multiwii board.

You can find the firmware here on github.

Hope that helps