Simple obstacle avoidance in auto mode

[Manish]

Hello @Mihir_Salot , @rmackay9

I need your help in obstacle avoidance.

Stopping for obstacle avoidance in AUTO mode

For agricultural drones spraying pesticides, path planning is a rastor scan. I want to avoid the obstacle and join the path again, to ensure spraying is done without loosing much field area. I’ll stop in front of an obstacle, and user can take control in loiter mode, avoid and align with main path and continue the mission. (this can later be replaced by 100% autonomy, to merge tightly with the path) This would ensure that the remaining pass to the waypoint can be sprayed autonomously Also, onc…

i have tried by made changes shared by mihir and also cloned rmackay repo [Copter: simple avoidance in Auto, RTL, Guided using proximity sensors by rmackay9 · Pull Request #26483 · ArduPilot/ardupilot · GitHub]
but still my copter not stopping after detecting obstacle.
i am using gazebo simulator.
can you help me with this.

[Mihir_Salot]

Are you getting obstacle data from gazebo to the drone?

[Manish]

yes, i have gazebo gardon.

[Manish]

Can you share me the changes you have done in firmware for obstacle avoidance?