I had the ultrasonic sensors fail on a flight last week. I'm waiting on weather to do a test flight to confirm the squawk. It also tried to fly away on me (sort of, I'll explain) on the flight. First battery I flew a 0.4 down to 35% I typically prefer to land with at least 30% on revenue flights or in tight areas. I replaced the battery with a fresh one, did the quick through-flight (our company procedure) which involves flipping on the OBS modes to verify they are working...ticking noise activated. I take off with OBS disabled, in angle mode. Immediately following takeoff the H+ gave a ultrasonic sensor fail message (OBS off), and began an un-commanded climb. I was able to over ride the climb with down stick, but not at the normal descent rate. Being a revenue flight on a site visit with the property owner and their representative watching, I elected to abort the flight and land. Once landed, I turned the H+ off, removed and replaced the battery, and powered it back up. A quick pre-flight indicated no faults, so I took off again. Again the sensor failure indication came on, but this time the flight controls worked as normal. I elected to complete the flight, at this point it was only roof inspections left. The sensor failure indication stayed on the entire flight. Thus...coming here to research. Since this thread appears to not have answers, I thought I'd add my experience. I'll indicate if the squawk continues after I get a weather window to test. I should have one later today.