Hi All,

i’ll make it short.

I have a quadcopter fitted with an Orange Cube.

I have set up several TFmini S on I2C (i can see them on Proximity tab).

I have set up my RNGFND, PRX, AVOID parameters so that my Copter stops (not slide) and keeps a distance of 6m from obstacles (i actually tried with 2m, 3m , 4m but same result).

Copter acts as if it is detecting the obstacle (i see it leaning to the opposite side as if it wanted to stop). However if i keep my pitch/roll command it still goes towards the obstacle and never stops.

below are my parameters possibly related to Obstacle Avoidance. Any hint why is that happening and how to solve it ?

```
AVD_ENABLE,0
AVOID_ACCEL_MAX,4
AVOID_ALT_MIN,1
AVOID_ANGLE_MAX,2000
AVOID_BACKUP_DZ,0
AVOID_BACKUP_SPD,2
AVOID_BEHAVE,0
AVOID_DIST_MAX,6
AVOID_ENABLE,3
AVOID_MARGIN,6
EK3_PRIMARY,0
EK3_RNG_I_GATE,500
EK3_RNG_M_NSE,0.5
EK3_RNG_USE_HGT,-1
EK3_RNG_USE_SPD,2
EK3_SRC_OPTIONS,1
EK3_SRC1_POSXY,3
EK3_SRC1_POSZ,1
EK3_SRC1_VELXY,3
EK3_SRC1_VELZ,3
EK3_SRC1_YAW,1
EK3_SRC2_POSXY,0
EK3_SRC2_POSZ,2
EK3_SRC2_VELXY,0
EK3_SRC2_VELZ,0
EK3_SRC2_YAW,0
EK3_SRC3_POSXY,0
EK3_SRC3_POSZ,1
EK3_SRC3_VELXY,0
EK3_SRC3_VELZ,0
EK3_SRC3_YAW,0
FENCE_ACTION,1
FENCE_ALT_MAX,5000
FENCE_ALT_MIN,-10
FENCE_ENABLE,1
FENCE_MARGIN,5
FENCE_RADIUS,5000
FENCE_TOTAL,0
FENCE_TYPE,3
PRX_FILT,0
PRX_IGN_ANG1,0
PRX_IGN_ANG2,0
PRX_IGN_ANG3,0
PRX_IGN_ANG4,0
PRX_IGN_ANG5,0
PRX_IGN_ANG6,0
PRX_IGN_GND,0
PRX_IGN_WID1,0
PRX_IGN_WID2,0
PRX_IGN_WID3,0
PRX_IGN_WID4,0
PRX_IGN_WID5,0
PRX_IGN_WID6,0
PRX_LOG_RAW,0
PRX_MAX,0
PRX_MIN,0
PRX_ORIENT,0
PRX_TYPE,4
PRX_YAW_CORR,0
RC7_DZ,0
RC7_MAX,1945
RC7_MIN,1045
RC7_OPTION,10
RC7_REVERSED,0
RC7_TRIM,1045
RNGFND_FILT,5
RNGFND1_ADDR,1
RNGFND1_FUNCTION,0
RNGFND1_GNDCLEAR,35
RNGFND1_MAX_CM,4900
RNGFND1_MIN_CM,30
RNGFND1_OFFSET,0
RNGFND1_ORIENT,25
RNGFND1_PIN,-1
RNGFND1_POS_X,0.44
RNGFND1_POS_Y,-0.33
RNGFND1_POS_Z,0.06
RNGFND1_PWRRNG,0
RNGFND1_RMETRIC,0
RNGFND1_SCALING,3
RNGFND1_STOP_PIN,-1
RNGFND1_TYPE,11
RNGFND2_ADDR,10
RNGFND2_FUNCTION,0
RNGFND2_GNDCLEAR,10
RNGFND2_MAX_CM,600
RNGFND2_MIN_CM,30
RNGFND2_OFFSET,0
RNGFND2_ORIENT,4
RNGFND2_PIN,-1
RNGFND2_POS_X,-0.08
RNGFND2_POS_Y,0
RNGFND2_POS_Z,0.2
RNGFND2_PWRRNG,0
RNGFND2_RMETRIC,0
RNGFND2_SCALING,3
RNGFND2_STOP_PIN,-1
RNGFND2_TYPE,25
RNGFND3_TYPE,0
RNGFND4_ADDR,4
RNGFND4_FUNCTION,0
RNGFND4_GNDCLEAR,10
RNGFND4_MAX_CM,600
RNGFND4_MIN_CM,30
RNGFND4_OFFSET,0
RNGFND4_ORIENT,6
RNGFND4_PIN,-1
RNGFND4_POS_X,0
RNGFND4_POS_Y,-0.11
RNGFND4_POS_Z,0.22
RNGFND4_PWRRNG,0
RNGFND4_RMETRIC,0
RNGFND4_SCALING,3
RNGFND4_STOP_PIN,-1
RNGFND4_TYPE,25
RNGFND5_ADDR,5
RNGFND5_FUNCTION,0
RNGFND5_GNDCLEAR,10
RNGFND5_MAX_CM,600
RNGFND5_MIN_CM,30
RNGFND5_OFFSET,0
RNGFND5_ORIENT,7
RNGFND5_PIN,-1
RNGFND5_POS_X,0.08
RNGFND5_POS_Y,-0.09
RNGFND5_POS_Z,0.22
RNGFND5_PWRRNG,0
RNGFND5_RMETRIC,0
RNGFND5_SCALING,3
RNGFND5_STOP_PIN,-1
RNGFND5_TYPE,25
RNGFND6_ADDR,6
RNGFND6_FUNCTION,0
RNGFND6_GNDCLEAR,10
RNGFND6_MAX_CM,600
RNGFND6_MIN_CM,30
RNGFND6_OFFSET,0
RNGFND6_ORIENT,1
RNGFND6_PIN,-1
RNGFND6_POS_X,0.08
RNGFND6_POS_Y,0.09
RNGFND6_POS_Z,0.22
RNGFND6_PWRRNG,0
RNGFND6_RMETRIC,0
RNGFND6_SCALING,3
RNGFND6_STOP_PIN,-1
RNGFND6_TYPE,25
RNGFND7_ADDR,7
RNGFND7_FUNCTION,0
RNGFND7_GNDCLEAR,10
RNGFND7_MAX_CM,600
RNGFND7_MIN_CM,30
RNGFND7_OFFSET,0
RNGFND7_ORIENT,2
RNGFND7_PIN,-1
RNGFND7_POS_X,0
RNGFND7_POS_Y,0.11
RNGFND7_POS_Z,0.22
RNGFND7_PWRRNG,0
RNGFND7_RMETRIC,0
RNGFND7_SCALING,3
RNGFND7_STOP_PIN,-1
RNGFND7_TYPE,25
RNGFND8_TYPE,0
RNGFND9_ADDR,9
RNGFND9_FUNCTION,0
RNGFND9_GNDCLEAR,10
RNGFND9_MAX_CM,600
RNGFND9_MIN_CM,30
RNGFND9_OFFSET,0
RNGFND9_ORIENT,0
RNGFND9_PIN,-1
RNGFND9_POS_X,0
RNGFND9_POS_Y,0
RNGFND9_POS_Z,0
RNGFND9_PWRRNG,0
RNGFND9_RMETRIC,0
RNGFND9_SCALING,3
RNGFND9_STOP_PIN,-1
RNGFND9_TYPE,25
RNGFNDA_TYPE,0
TERRAIN_ENABLE,1
TERRAIN_MARGIN,0.05
TERRAIN_OFS_MAX,15
TERRAIN_OPTIONS,0
TERRAIN_SPACING,100
WP_NAVALT_MIN,0
WP_YAW_BEHAVIOR,0
WPNAV_ACCEL,100
WPNAV_ACCEL_Z,100
WPNAV_JERK,1
WPNAV_RADIUS,200
WPNAV_RFND_USE,1
WPNAV_SPEED,500
WPNAV_SPEED_DN,150
WPNAV_SPEED_UP,150
WPNAV_TER_MARGIN,0.5
```

**extra issue:** *i tried setting up 9 TFmini S to cover all the 8 quadrants + downward facing*

*It is not able to detect them all together. I always get a few not detected randomly. *

*power supply is through a separate BEC with same ground reference as the Cube Orange.*

*If i randomly remove 2 from the loop all works fine. it seems to me that the Cube Orange is not able to handle the data and is missing some data randomly from those sensors.*

Thanks in advance.