In this video, I add a sonar system with depth mapping capability to my self driving solar boat. I also make a few other electronic and hardware upgrades. See previous video for design/build and initial testing:
   • Infinite Range Autonomous GPS Boat  

Code and schematics:
https://github.com/ClayBuilds/Gumptio...

NEW components:
Microcontroller: Teensy 4.0
Sonar Module: Blue Robotics Ping Echo Sounder
Power Modules: Adafruit INA260 Breakouts
SD Card Module: Adafruit MicroSD Breakout Board+ (PID 264)
I2C Hub: Adafruit Qwiic/Stemma QT 5 Port Hub (PID 5625)