16kg payload drone , obstacle sense and avoid

Hello team ,

I have built a 16kg payload drone. At the moment it is used for agriculture spraying later would be used for delivery . I have a forward facing obstacle avoidance , at the moment it senses an obstacle at 10 meters and stops by 5 meters.

I wanted to know if there is a way that the drone can sense the obstacle and thereafter instead of stopping it can create a new path around it and continues to join the same path and complete the mission. I would be using 2 obstacle avoidance sensor one at the front and one at the back of the drone. Presently using bottom sensor to follow terrain during spraying.

Details
Pixhawk cube orange
Obstacle sensor front facing -

Ben wake -tf02 pro - 40 meter in serial port - 4

Terrain following sensor
Terrain tf mini plus - 12 meter in serial port -2

Now which port should I put the 2nd back facing obstacle sensor. Also what parameters should I make so that drone senses and obstacle avoids it and continues its mission

Upgrade to ArduCopter 4.2.3 it contains more OA options.

You can wire it to Serial port 3 (GPS port), and use a GPS with CAN support, like Here 3 for instance.

You should setup OA_ parameter family in order to control this behaviour.