Systems and methods are provided for determining a soil roughness measure. A transducer transmits an ultrasonic signal towards a soil surface and receives a first echo signal of the ultrasonic signal and a second echo signal of the ultrasonic signal. A first distance between the transducer and a first point on the soil surface is calculated based on the first echo signal of the ultrasonic signal. A second distance between the transducer and a second point on the soil surface is calculated based on the second echo signal of the ultrasonic signal. A soil roughness measure of the soil surface is determined based on a difference between the first distance and the second distance.
