In AltHold, Collision Avoidance Works but in PosHold it doesn't

ArduCopter Copter 4.6
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1

Hello Again,

Have RPLidar A2M12 Proximity Sensor. Have configured 2.5m for collision detection. Have configured “Slide” as Collision Avoidance behaviour. In altmode the OCTAQUAD-X twitches to avoid around 1 meter and moves or slides away from obstacle. Have tested this behaviour in almost all 8 directions of the quad.

But in PosHold Mode Even with the obstacle being as close to the Drone it doesn’t try to avoid.

Have attached a log file where AltMode Collision detection works. Also Have attached a log file where PosMode Collision detection doesn’t seem to kick in.

What parameters to be set or over-ridden to make OCTAQUAD-X work in PosHold mode?

2

Can you give Loiter Mode a try?

3

I concur with Jai.GAY
Use Loiter mode instead of Position mode. Loiter has more tuning optoions too. AltHold and probably Stabilise are the other key modes to practise with.
Position Hold is like Stabilise when you move the sticks, and goes back to holding a GPS position and altitude when you release the sticks.