Limelight calibration

My team just got limelight 2.0 last year. Durin last year’s competition we used it with ultrasonic sensor to see where cubes and cones are, but it wasn’t very accurate due to light sensitivity on our setting. During our comp we saw teams using the limelight and getting much clearer filters on the cube. Also, a team told us that we should not be using the ultrasonics the limelight should be able to do everything itself. We are wondering how to measure distance with the limelight and how to make our filters better.