Scaling AVOID_MARGIN based on speed?

ArduCopter Copter 4.6
1

Hi all,
I am looking to find a way to scale my AVOID_MARGIN based on the quads speed within simple avoidance in loiter mode. I am having good results using a low LOIT_ACC_MAX value and a lower than suggested AVOID_MARGIN when flying in close proximity to obstacles, and when stepping the AVOID_MARGIN up to a higher value, I am also seeing the expected behavior.

My goal here is to continue to get the behavior at low speeds I am seeing, but create a threshold where a higher speed would enable a 1.5m or 2m AVOID_MARGIN

Is this possible through some stacking of basic functions? I am using a 1mb flash FC so I don’t think this can be solved with a LUA - please correct me if I am wrong.

Thanks!

2

It can easily be done with Lua, but not on your choice of hardware.

Otherwise, I don’t think there’s a solution without custom firmware.

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