For some reason the object avoidance doesn’t work. The sonar range can detect the object distance correctly, but the rover doesn’t go around. Attached is the parameter file with AVOID_ENABLE = 1 and OA_TYPE =1FullParam_CubeBlack_EVO_OA_params.param (16.5 KB)
Object avoidance is working with following parameters for the Tera Ranger EVO:
AVOID_ENABLE = 3
AVOID_ANGLE_MAX = 1300
PRX_TYPE = 4
EK2_ALT_SOURCE = 1 (Use Range Finder)
Not sure if the last one above is required to be changed from 0 to 1