Clarification on Obstacle Avoidance in Loiter and Auto Modes

ArduCopter Copter 4.3
1

I’ve been experimenting with my drone equipped with an Obstacle Avoidance Radar in both Loiter and Auto flight modes, and I’ve been going through the Ardupilot documentation to understand the parameters involved.

From what I gather, in Loiter mode, the drone uses the Avoid Parameters, while in Auto mode, it relies on OA_parameters. Currently, my Avoid Parameter is set to Stop, and in Auto mode, the OA_type is configured as 1 (BendyRuler).

My question is whether there’s a way to have the UAV automatically stop in Auto mode when it detects an obstacle, similar to how it behaves in Loiter mode.

2

Hey ! Do you use a copter/rover/plane vehicle ?
For instance in rover you have the avoid_enable and avoid_behave params that would make what you want

3

See Copter/AC_Avoidance: option to support "fast waypoints" when using Dijkstras by rmackay9 · Pull Request #25793 · ArduPilot/ardupilot · GitHub

4

Hi, I’m using a Hexa Copter.