Autonomous obstacle avoidance

I am working on a quadcopter and want to give it an automous flight. I also want to do obstacle detection during the automous flight and then avoid it. Will sending MAV link commands using raspberry pi when copter is in automous mode do the job for me? Kindly help me achieving this goal.


Obstacle avoidance is supported on ArduCopter:

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It is a Copter…Actually I am confused that during autonomous mode will the command sent by mavlink be accepted first or I need to go to guided mode and then command it using mavlink through raspberry pi