Hi @DIVER,
As far as I’m aware the transmit duration is set automatically based on the range and speed of sound. We don’t specify a message for controlling transmit duration in the protocol, just requesting to be informed of the current value for it.
I’ve asked internally for confirmation.
This is very significantly off. I expect either you’re testing in an overly small tank or pipe with echoes that are messing up the distance estimate algorithm, or you’re incorrectly applying your NPL equation / there’s an error in your calculation (perhaps you’ve used incorrect units somewhere?).
To better help you, could you please explain
- how is your testing set up?
- which equation are you using?
- can you show a worked example of the calculations you’re doing, starting from the message you get from the sonar?
The Formatting a Post/Comment section of the “How to Use the Blue Robotics Forums” post explains how to format maths in the “in text” subsection 