Avoidance Aux Switch Option


Could anyone explain how work this function switch?

It turns obstacle avoidance on and off - on when switch is up, off when low.

I’ll also update the wiki to explain all the aux functions.

One thing to be aware of is that we have two “avoidance” features. We have “ADSB avoidance” (i.e. avoidance of manned aircraft using an ADSB sensor) and “object avoidance” (avoidance of near-by obstacles).

ADSB Avoidance: http://ardupilot.org/copter/docs/common-ads-b-receiver.html
Object Avoidance: http://ardupilot.org/copter/docs/common-lightware-sf40c-objectavoidance.html

The auxiliary switch options were not clearly labelled in AC3.4 and if you’re using stable mission planner then it’s using the older labels in which case you may just see “Avoidance” which mean “ADSB Avoidance”. If you use beta MP or just wait until AC3.5 is released as the official version you’ll then see two more clearly labelled options, “ADSB-Avoidance” (CH7_OPT=38) and “Object Avoidance” (CH7_OPT=40).

Sorry for the confusion.

Thank you for this explantation, so I set ch_opt to 40 and what about the parameter AVOID_ENABLE Parameters ?

If set to zero and aux switch ch_opt to 40 high, does object avoidance is active?

The AVOID_ENABLE parameter is a bitmask that allows you to set what types of avoidance are enabled - right now we have two types, fence and proximity (which is the obstacle avoidance). If you set it to zero, all avoidance is disabled, regardless of the switch position. For the switch to have an effect you have to enable at least the proximity (so it needs to be, at least, 2).

Perfect! Thank you Oxinarf

I’ve updated the auxiliary switch wiki page with all the available options now and tried to clarify them. http://ardupilot.org/copter/docs/channel-7-and-8-options.html

Thanks for testing!