Going Around The GeoFence

Hello I have a code that will scan field in auto mode. but in the area there is some trees. I want to make drone go around the trees. Simply, I will give the coordinate it will create an circle fence. and when vehicle close to him vehicle will go around the tree.

Is there any function in ardupilot for this or should I write it from scratch?

Collision avoidance can do that.

https://ardupilot.org/copter/docs/common-polygon_fence.html

Exclusion fence?

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