CUAV V5+ is “Pixhawk” compatible, with a lot of serial plugs.
In order to test obstacle avoidance, I moved the Benewake TFMiniS from the Quad Navio2 platform to the Y6 CUAV V5+. Configured in frontal position,
and using one free serial (UART4), TF02-Pro is plugged in Telem2.
the result is interesting.
I moved after take-off close to the wood cabin at the airfield. In the video, you can see the Y6 bouncing away as I try to fly close to the wall. The camera is on ground, looking the sky.
From another flight, same day, without video.
You can visualise the distance to obstacle
and the RC_Pitch command
As soon I release the Pitch, the copter move backward to stay at safe distance from obstacle.