Many of you will have already seen this report from terabee.com and suasnews about how Terabee testing non-GPS object avoidance using the TeraRanger Tower but I’m reposting just in case.
The method we use in AltHold is described here on our developer wiki. Much better results are possible in Loiter because the vehicle knows it’s position and speed so it can more intelligently decelerate so as not to hit things.
In any case, there are still areas for improvement in object avoidance so for those of you with C++ experience, feel free to get involved.