Path: blob/master/Tools/Linux_HAL_Essentials/pru/rangefinderpru/README.md
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PRU firmware for HC-SR04 rangefinder
HC-SR04 driver that can be used with BeagleBone Black
Install PRU C-Compiler
sudo apt-get updatesudo apt-get install ti-pru-cgt-installer
Rebuild rangefinder.c
cd ardupilot/Tools/Linux_HAL_Essentials/rangefinderpru/make